Changeset 538 for library/doc/html/ekf__template_8h-source.html
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library/doc/html/ekf__template_8h-source.html
r401 r538 52 52 <li><a href="main.html"><span>Main Page</span></a></li> 53 53 <li><a href="pages.html"><span>Related Pages</span></a></li> 54 <li><a href="modules.html"><span>Modules</span></a></li>55 54 <li><a href="annotated.html"><span>Classes</span></a></li> 56 55 <li class="current"><a href="files.html"><span>Files</span></a></li> … … 69 68 <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="kalman_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">kalman.h</a>"</span> 70 69 <a name="l00017"></a>00017 71 <a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm {70 <a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm { 72 71 <a name="l00019"></a>00019 73 72 <a name="l00021"></a><a class="code" href="classbdm_1_1EKFful__unQR.html">00021</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFful__unQR.html" title="Extended Kalman filter with unknown Q and R.">EKFful_unQR</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a> { 74 73 <a name="l00022"></a>00022 <span class="keyword">public</span>: 75 74 <a name="l00023"></a><a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584">00023</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &QR0 ) { 76 <a name="l00024"></a>00024 Q =diag(QR0(0,dimx-1));77 <a name="l00025"></a>00025 R =diag(QR0(dimx,dimx+dimy-1));75 <a name="l00024"></a>00024 Q = diag ( QR0 ( 0, dimx - 1 ) ); 76 <a name="l00025"></a>00025 R = diag ( QR0 ( dimx, dimx + dimy - 1 ) ); 78 77 <a name="l00026"></a>00026 }; 79 78 <a name="l00027"></a>00027 }; … … 82 81 <a name="l00031"></a>00031 <span class="keyword">public</span>: 83 82 <a name="l00032"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916">00032</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &Q0 ) { 84 <a name="l00033"></a>00033 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="class chmat.html#a4fc7f9b0539b97c414442a22f3db6e8" title="Access functions.">setD</a> ( Q0,0 );83 <a name="l00033"></a>00033 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b192df5b54b173ba9bc6922ee9983bc9" title="Access functions.">setD</a> ( Q0, 0 ); 85 84 <a name="l00034"></a>00034 <span class="comment">//from EKF</span> 86 <a name="l00035"></a>00035 <a class="code" href="classbdm_1_1KalmanCh.html#48611c8582706cfa62e832be0972e75d" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> +<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>,<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>,<a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#9c50d31c999d85d8e9d8cf2b69b6ac8c" title="Access function.">_Ch</a>() );85 <a name="l00035"></a>00035 <a class="code" href="classbdm_1_1KalmanCh.html#48611c8582706cfa62e832be0972e75d" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() ); 87 86 <a name="l00036"></a>00036 }; 88 87 <a name="l00037"></a>00037 }; 89 88 <a name="l00038"></a>00038 90 89 <a name="l00040"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html">00040</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__chQ.html" title="Extended Kalman filter in Choleski form with unknown Q.">EKFCh_chQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> { 91 <a name="l00041"></a>00041 92 <a name="l00042"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b">00042</a> 93 <a name="l00043"></a>00043 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#4c8b321967b14ed2616a2abb9498a979" title="Access functions.">setCh</a> ( chQ0);90 <a name="l00041"></a>00041 <span class="keyword">public</span>: 91 <a name="l00042"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b">00042</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &chQ0 ) { 92 <a name="l00043"></a>00043 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b8fd18754b0e5e0463f818cd16c710c8" title="Access functions.">setCh</a> ( chQ0 ); 94 93 <a name="l00044"></a>00044 <span class="comment">//from EKF</span> 95 <a name="l00045"></a>00045 <a class="code" href="classbdm_1_1KalmanCh.html#48611c8582706cfa62e832be0972e75d" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>,<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>,<a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#9c50d31c999d85d8e9d8cf2b69b6ac8c" title="Access function.">_Ch</a>() );96 <a name="l00046"></a>00046 94 <a name="l00045"></a>00045 <a class="code" href="classbdm_1_1KalmanCh.html#48611c8582706cfa62e832be0972e75d" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() ); 95 <a name="l00046"></a>00046 }; 97 96 <a name="l00047"></a>00047 }; 98 97 <a name="l00048"></a>00048 99 98 <a name="l00050"></a><a class="code" href="classbdm_1_1EKFCh__cond.html">00050</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__cond.html" title="Extended Kalman filter with unknown parameters in IM.">EKFCh_cond</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> { 100 <a name="l00051"></a>00051 101 <a name="l00052"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52">00052</a> 102 <a name="l00053"></a>00053 <a class="code" href="classbdm_1_1EKFCh.html#e1e895f994398a55bc425551fc275ba3" title="Internal Model f(x,u).">pfxu</a>-><a class="code" href="classbdm_1_1fnc.html#0786e40fade2663a70d654c1dda5d73e" title="function substitutes given value into an appropriate position">condition</a>( val );103 <a name="l00054"></a>00054 99 <a name="l00051"></a>00051 <span class="keyword">public</span>: 100 <a name="l00052"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52">00052</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &val ) { 101 <a name="l00053"></a>00053 <a class="code" href="classbdm_1_1EKFCh.html#5dc1964a6058057c9e17ea3c2f33bd2a" title="Internal Model f(x,u).">pfxu</a>->condition ( val ); 102 <a name="l00054"></a>00054 }; 104 103 <a name="l00055"></a>00055 }; 105 104 <a name="l00056"></a>00056 … … 107 106 <a name="l00058"></a>00058 <span class="preprocessor">#endif //EKF_TEMP_H</span> 108 107 </pre></div></div> 109 <hr size="1"><address style="text-align: right;"><small>Generated on Wed Jul 1 13:05:552009 for mixpp by 108 <hr size="1"><address style="text-align: right;"><small>Generated on Sun Aug 16 17:58:18 2009 for mixpp by 110 109 <a href="http://www.doxygen.org/index.html"> 111 110 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
