Changeset 565 for library/bdm/estim/kalman.cpp

Timestamp:

08/19/09 16:54:24 (15 years ago)

Author:

vbarta

Message:

using own error macros (basically copied from IT++, but never aborting)

Files:

• library/bdm/estim/kalman.cpp (modified) (5 diffs)

library/bdm/estim/kalman.cpp

@@ -11 +11 @@
         dimy = C0.rows();
 
-        it_assert_debug ( A0.cols() == dimx, "KalmanFull: A is not square" );
-        it_assert_debug ( B0.rows() == dimx, "KalmanFull: B is not compatible" );
-        it_assert_debug ( C0.cols() == dimx, "KalmanFull: C is not square" );
-        it_assert_debug ( ( D0.rows() == dimy ) || ( D0.cols() == dimu ),       "KalmanFull: D is not compatible" );
-        it_assert_debug ( ( Q0.cols() == dimx ) || ( Q0.rows() == dimx ), "KalmanFull: Q is not compatible" );
-        it_assert_debug ( ( R0.cols() == dimy ) || ( R0.rows() == dimy ), "KalmanFull: R is not compatible" );
+        bdm_assert_debug ( A0.cols() == dimx, "KalmanFull: A is not square" );
+        bdm_assert_debug ( B0.rows() == dimx, "KalmanFull: B is not compatible" );
+        bdm_assert_debug ( C0.cols() == dimx, "KalmanFull: C is not square" );
+        bdm_assert_debug ( ( D0.rows() == dimy ) || ( D0.cols() == dimu ), "KalmanFull: D is not compatible" );
+        bdm_assert_debug ( ( Q0.cols() == dimx ) || ( Q0.rows() == dimx ), "KalmanFull: Q is not compatible" );
+        bdm_assert_debug ( ( R0.cols() == dimy ) || ( R0.rows() == dimy ), "KalmanFull: R is not compatible" );
 
         A = A0;
@@ -32 +32 @@
 
 void KalmanFull::bayes ( const vec &dt ) {
-        it_assert_debug ( dt.length() == ( dimy + dimu ), "KalmanFull::bayes wrong size of dt" );
+        bdm_assert_debug ( dt.length() == ( dimy + dimu ), "KalmanFull::bayes wrong size of dt" );
 
         vec u = dt.get ( dimy, dimy + dimu - 1 );
@@ -86 +86 @@
 
 void EKFfull::bayes ( const vec &dt ) {
-        it_assert_debug ( dt.length() == ( dimy + dimu ), "KalmanFull::bayes wrong size of dt" );
+        bdm_assert_debug ( dt.length() == ( dimy + dimu ), "EKFull::bayes wrong size of dt" );
 
         vec u = dt.get ( dimy, dimy + dimu - 1 );
@@ -142 +142 @@
         preA.set_submatrix ( dimy, dimy, ( _P._Ch() ) *A.T() );
 
-//      if ( !qr ( preA,Q,postA ) ) it_warning ( "QR in kalman unstable!" );
         if ( !qr ( preA, postA ) ) {
-                it_warning ( "QR in kalman unstable!" );
+                bdm_warning ( "QR in KalmanCh unstable!" );
         }
 
@@ -217 +216 @@
 //      cout << "_mu:" << _mu <<endl;
 
-//      if ( !qr ( preA,Q,postA ) ) it_warning ( "QR in kalman unstable!" );
         if ( !qr ( preA, postA ) ) {
-                it_warning ( "QR in kalman unstable!" );
+                bdm_warning ( "QR in EKFCh unstable!" );
         }