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

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.h (modified) (6 diffs)

library/bdm/estim/kalman.h

@@ -286 +286 @@
 public:
         void condition ( const vec &QR ) {
-                it_assert_debug ( QR.length() == ( dimx + dimy ), "KFcondRQ: conditioning by incompatible vector" );
+                bdm_assert_debug ( QR.length() == ( dimx + dimy ), "KFcondQR: conditioning by incompatible vector" );
 
                 Q.setD ( QR ( 0, dimx - 1 ) );
@@ -304 +304 @@
 
         void condition ( const vec &R0 ) {
-                it_assert_debug ( R0.length() == ( dimy ), "KFcondR: conditioning by incompatible vector" );
+                bdm_assert_debug ( R0.length() == ( dimy ), "KFcondR: conditioning by incompatible vector" );
 
                 R.setD ( R0 );
@@ -338 +338 @@
         dimu = B0.cols();
 
-        it_assert_debug ( A0.cols() == dimx, "Kalman: A is not square" );
-        it_assert_debug ( B0.rows() == dimx, "Kalman: B is not compatible" );
-        it_assert_debug ( C0.cols() == dimx, "Kalman: C is not square" );
-        it_assert_debug ( ( D0.rows() == dimy ) || ( D0.cols() == dimu ),       "Kalman: D is not compatible" );
-        it_assert_debug ( ( R0.cols() == dimy ) || ( R0.rows() == dimy ), "Kalman: R is not compatible" );
-        it_assert_debug ( ( Q0.cols() == dimx ) || ( Q0.rows() == dimx ), "Kalman: Q is not compatible" );
+        bdm_assert_debug ( A0.cols() == dimx, "Kalman: A is not square" );
+        bdm_assert_debug ( B0.rows() == dimx, "Kalman: B is not compatible" );
+        bdm_assert_debug ( C0.cols() == dimx, "Kalman: C is not square" );
+        bdm_assert_debug ( ( D0.rows() == dimy ) || ( D0.cols() == dimu ),      "Kalman: D is not compatible" );
+        bdm_assert_debug ( ( R0.cols() == dimy ) || ( R0.rows() == dimy ), "Kalman: R is not compatible" );
+        bdm_assert_debug ( ( Q0.cols() == dimx ) || ( Q0.rows() == dimx ), "Kalman: Q is not compatible" );
 
         A = A0;
@@ -355 +355 @@
 template<class sq_T>
 void Kalman<sq_T>::bayes ( const vec &dt ) {
-        it_assert_debug ( dt.length() == ( dimy + dimu ), "KalmanFull::bayes wrong size of dt" );
+        bdm_assert_debug ( dt.length() == ( dimy + dimu ), "Kalman::bayes wrong size of dt" );
 
         sq_T iRy ( dimy );
@@ -439 +439 @@
                 break;
                 default:
-                        it_error ( "unknown policy" );
+                        bdm_error ( "unknown policy" );
                 }
                 // copy result to all models
@@ -486 +486 @@
 template<class sq_T>
 void EKF<sq_T>::bayes ( const vec &dt ) {
-        it_assert_debug ( dt.length() == ( dimy + dimu ), "KalmanFull::bayes wrong size of dt" );
+        bdm_assert_debug ( dt.length() == ( dimy + dimu ), "EKF<>::bayes wrong size of dt" );
 
         sq_T iRy ( dimy, dimy );