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    35<title>mixpp: bdm::LQG Class Reference</title> 
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    70 <h1>bdm::LQG Class Reference</h1><!-- doxytag: class="bdm::LQG" --><!-- doxytag: inherits="bdm::Designer" --><code>#include &lt;<a class="el" href="ctrlbase_8h-source.html">ctrlbase.h</a>&gt;</code> 
    71 <p> 
    72  
    73 <p> 
    74 <a href="classbdm_1_1LQG-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0"> 
    75 <tr><td></td></tr> 
    76 <tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr> 
    77 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d70ccc26e555b7f96c778a08b0d2153e"></a><!-- doxytag: member="bdm::LQG::set_system" ref="d70ccc26e555b7f96c778a08b0d2153e" args="(shared_ptr&lt; StateSpace&lt; fsqmat &gt; &gt; S0)" --> 
    78 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#d70ccc26e555b7f96c778a08b0d2153e">set_system</a> (<a class="el" href="classbdm_1_1shared__ptr.html">shared_ptr</a>&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a>&lt; <a class="el" href="classbdm_1_1fsqmat.html">fsqmat</a> &gt; &gt; S0)</td></tr> 
    79  
    80 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set system parameters from given matrices <br></td></tr> 
    81 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="be34f68bc868096df1473487b920bae3"></a><!-- doxytag: member="bdm::LQG::set_control_parameters" ref="be34f68bc868096df1473487b920bae3" args="(const mat &amp;Qy0, const mat &amp;Qu0, const vec &amp;y_req0, int horizon0)" --> 
    82 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#be34f68bc868096df1473487b920bae3">set_control_parameters</a> (const mat &amp;Qy0, const mat &amp;Qu0, const vec &amp;y_req0, int horizon0)</td></tr> 
    83  
    84 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set penalization matrices and control horizon <br></td></tr> 
    85 <tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ec1a44c57a4569335a943462b35c3156">initialize</a> ()</td></tr> 
    86  
    87 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set system parameters from <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> filter  <a href="#ec1a44c57a4569335a943462b35c3156"></a><br></td></tr> 
    88 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="96c8fb67798ccd783467fcb607296954"></a><!-- doxytag: member="bdm::LQG::validate" ref="96c8fb67798ccd783467fcb607296954" args="()" --> 
     73<h1>bdm::LQG Class Reference</h1><!-- doxytag: class="bdm::LQG" --><!-- doxytag: inherits="bdm::Designer" --> 
     74<p><code>#include &lt;<a class="el" href="ctrlbase_8h_source.html">ctrlbase.h</a>&gt;</code></p> 
     75 
     76<p><a href="classbdm_1_1LQG-members.html">List of all members.</a></p> 
     77<table border="0" cellpadding="0" cellspacing="0"> 
     78<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr> 
     79<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad70ccc26e555b7f96c778a08b0d2153e"></a><!-- doxytag: member="bdm::LQG::set_system" ref="ad70ccc26e555b7f96c778a08b0d2153e" args="(shared_ptr&lt; StateSpace&lt; fsqmat &gt; &gt; S0)" --> 
     80void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ad70ccc26e555b7f96c778a08b0d2153e">set_system</a> (<a class="el" href="classbdm_1_1shared__ptr.html">shared_ptr</a>&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a>&lt; <a class="el" href="classbdm_1_1fsqmat.html">fsqmat</a> &gt; &gt; S0)</td></tr> 
     81<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set system parameters from given matrices <br/></td></tr> 
     82<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abe34f68bc868096df1473487b920bae3"></a><!-- doxytag: member="bdm::LQG::set_control_parameters" ref="abe34f68bc868096df1473487b920bae3" args="(const mat &amp;Qy0, const mat &amp;Qu0, const vec &amp;y_req0, int horizon0)" --> 
     83void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#abe34f68bc868096df1473487b920bae3">set_control_parameters</a> (const mat &amp;Qy0, const mat &amp;Qu0, const vec &amp;y_req0, int horizon0)</td></tr> 
     84<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set penalization matrices and control horizon <br/></td></tr> 
     85<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#aec1a44c57a4569335a943462b35c3156">initialize</a> ()</td></tr> 
     86<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set system parameters from <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> filter  <a href="#aec1a44c57a4569335a943462b35c3156"></a><br/></td></tr> 
     87<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a96c8fb67798ccd783467fcb607296954"></a><!-- doxytag: member="bdm::LQG::validate" ref="a96c8fb67798ccd783467fcb607296954" args="()" --> 
    8988void&nbsp;</td><td class="memItemRight" valign="bottom"><b>validate</b> ()</td></tr> 
    90  
    91 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5016aebbb654a0e3d653b8485e0ea86c"></a><!-- doxytag: member="bdm::LQG::update_state" ref="5016aebbb654a0e3d653b8485e0ea86c" args="()" --> 
    92 virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c">update_state</a> ()</td></tr> 
    93  
    94 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function for future use which is called at each time td; Should call <a class="el" href="classbdm_1_1LQG.html#ec1a44c57a4569335a943462b35c3156" title="set system parameters from Kalman filter">initialize()</a>! <br></td></tr> 
    95 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ddc5444b092fdb36239f83ab1ae85805"></a><!-- doxytag: member="bdm::LQG::ricatti_step" ref="ddc5444b092fdb36239f83ab1ae85805" args="()" --> 
    96 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805">ricatti_step</a> ()</td></tr> 
    97  
    98 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">redesign one step of the <br></td></tr> 
    99 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e8df589bbdbdd40515f837c9c9560ed8"></a><!-- doxytag: member="bdm::LQG::redesign" ref="e8df589bbdbdd40515f837c9c9560ed8" args="()" --> 
    100 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#e8df589bbdbdd40515f837c9c9560ed8">redesign</a> ()</td></tr> 
    101  
    102 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Redesign control strategy. <br></td></tr> 
    103 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bd673ed2fee4289c212e03df084e8af5"></a><!-- doxytag: member="bdm::LQG::apply" ref="bd673ed2fee4289c212e03df084e8af5" args="(const vec &amp;state, const vec &amp;ukm)" --> 
     89<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5016aebbb654a0e3d653b8485e0ea86c"></a><!-- doxytag: member="bdm::LQG::update_state" ref="a5016aebbb654a0e3d653b8485e0ea86c" args="()" --> 
     90virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c">update_state</a> ()</td></tr> 
     91<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function for future use which is called at each time td; Should call <a class="el" href="classbdm_1_1LQG.html#aec1a44c57a4569335a943462b35c3156" title="set system parameters from Kalman filter">initialize()</a>! <br/></td></tr> 
     92<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="addc5444b092fdb36239f83ab1ae85805"></a><!-- doxytag: member="bdm::LQG::ricatti_step" ref="addc5444b092fdb36239f83ab1ae85805" args="()" --> 
     93void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805">ricatti_step</a> ()</td></tr> 
     94<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">redesign one step of the <br/></td></tr> 
     95<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae8df589bbdbdd40515f837c9c9560ed8"></a><!-- doxytag: member="bdm::LQG::redesign" ref="ae8df589bbdbdd40515f837c9c9560ed8" args="()" --> 
     96void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8">redesign</a> ()</td></tr> 
     97<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Redesign control strategy. <br/></td></tr> 
     98<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abd673ed2fee4289c212e03df084e8af5"></a><!-- doxytag: member="bdm::LQG::apply" ref="abd673ed2fee4289c212e03df084e8af5" args="(const vec &amp;state, const vec &amp;ukm)" --> 
    10499vec&nbsp;</td><td class="memItemRight" valign="bottom"><b>apply</b> (const vec &amp;state, const vec &amp;ukm)</td></tr> 
    105  
    106 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="334668204e01d468fe107780d10d2bd8"></a><!-- doxytag: member="bdm::LQG::apply" ref="334668204e01d468fe107780d10d2bd8" args="(const vec &amp;cond)" --> 
    107 virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Designer.html#334668204e01d468fe107780d10d2bd8">apply</a> (const vec &amp;cond)</td></tr> 
    108  
    109 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">apply control strategy to obtain control input <br></td></tr> 
    110 <tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr> 
    111 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9575232a3b04933e6b4c4299bf1bfe15"></a><!-- doxytag: member="bdm::LQG::S" ref="9575232a3b04933e6b4c4299bf1bfe15" args="" --> 
    112 <a class="el" href="classbdm_1_1shared__ptr.html">shared_ptr</a>&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a>&lt; <a class="el" href="classbdm_1_1fsqmat.html">fsqmat</a> &gt; &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#9575232a3b04933e6b4c4299bf1bfe15">S</a></td></tr> 
    113  
    114 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a> model from which we read data. <br></td></tr> 
    115 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ad002e3dc31c59db7f286b00a8e2fc65"></a><!-- doxytag: member="bdm::LQG::y_req" ref="ad002e3dc31c59db7f286b00a8e2fc65" args="" --> 
    116 vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65">y_req</a></td></tr> 
    117  
    118 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br></td></tr> 
    119 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8dc7e6ca7949ded1d94ccd78cb8bb2da"></a><!-- doxytag: member="bdm::LQG::u_req" ref="8dc7e6ca7949ded1d94ccd78cb8bb2da" args="" --> 
    120 vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#8dc7e6ca7949ded1d94ccd78cb8bb2da">u_req</a></td></tr> 
    121  
    122 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br></td></tr> 
    123 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e770d283502cf4da978d1d8523309869"></a><!-- doxytag: member="bdm::LQG::horizon" ref="e770d283502cf4da978d1d8523309869" args="" --> 
    124 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869">horizon</a></td></tr> 
    125  
    126 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Control horizon, set to maxint for infinite horizons. <br></td></tr> 
    127 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="484963959d51059d73d9c6174782cc2f"></a><!-- doxytag: member="bdm::LQG::Qy" ref="484963959d51059d73d9c6174782cc2f" args="" --> 
    128 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f">Qy</a></td></tr> 
    129  
    130 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qy <br></td></tr> 
    131 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="13f14aea28c7f7b074779ece7df5e748"></a><!-- doxytag: member="bdm::LQG::Qu" ref="13f14aea28c7f7b074779ece7df5e748" args="" --> 
    132 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#13f14aea28c7f7b074779ece7df5e748">Qu</a></td></tr> 
    133  
    134 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qu <br></td></tr> 
    135 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6c9fa6d9bb0be47ac5ed9183eb38562e"></a><!-- doxytag: member="bdm::LQG::td" ref="6c9fa6d9bb0be47ac5ed9183eb38562e" args="" --> 
    136 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e">td</a></td></tr> 
    137  
    138 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">time of the design step - from horizon-&gt;0 <br></td></tr> 
    139 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d78bb29a213eef033a9657ec2f592e80"></a><!-- doxytag: member="bdm::LQG::L" ref="d78bb29a213eef033a9657ec2f592e80" args="" --> 
    140 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80">L</a></td></tr> 
    141  
    142 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">controller parameters <br></td></tr> 
     100<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a334668204e01d468fe107780d10d2bd8"></a><!-- doxytag: member="bdm::LQG::apply" ref="a334668204e01d468fe107780d10d2bd8" args="(const vec &amp;cond)" --> 
     101virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Designer.html#a334668204e01d468fe107780d10d2bd8">apply</a> (const vec &amp;cond)</td></tr> 
     102<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">apply control strategy to obtain control input <br/></td></tr> 
     103<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr> 
     104<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9575232a3b04933e6b4c4299bf1bfe15"></a><!-- doxytag: member="bdm::LQG::S" ref="a9575232a3b04933e6b4c4299bf1bfe15" args="" --> 
     105<a class="el" href="classbdm_1_1shared__ptr.html">shared_ptr</a>&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a>&lt; <a class="el" href="classbdm_1_1fsqmat.html">fsqmat</a> &gt; &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a9575232a3b04933e6b4c4299bf1bfe15">S</a></td></tr> 
     106<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a> model from which we read data. <br/></td></tr> 
     107<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad002e3dc31c59db7f286b00a8e2fc65"></a><!-- doxytag: member="bdm::LQG::y_req" ref="aad002e3dc31c59db7f286b00a8e2fc65" args="" --> 
     108vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#aad002e3dc31c59db7f286b00a8e2fc65">y_req</a></td></tr> 
     109<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br/></td></tr> 
     110<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8dc7e6ca7949ded1d94ccd78cb8bb2da"></a><!-- doxytag: member="bdm::LQG::u_req" ref="a8dc7e6ca7949ded1d94ccd78cb8bb2da" args="" --> 
     111vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a8dc7e6ca7949ded1d94ccd78cb8bb2da">u_req</a></td></tr> 
     112<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br/></td></tr> 
     113<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae770d283502cf4da978d1d8523309869"></a><!-- doxytag: member="bdm::LQG::horizon" ref="ae770d283502cf4da978d1d8523309869" args="" --> 
     114int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae770d283502cf4da978d1d8523309869">horizon</a></td></tr> 
     115<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Control horizon, set to maxint for infinite horizons. <br/></td></tr> 
     116<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a484963959d51059d73d9c6174782cc2f"></a><!-- doxytag: member="bdm::LQG::Qy" ref="a484963959d51059d73d9c6174782cc2f" args="" --> 
     117mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a484963959d51059d73d9c6174782cc2f">Qy</a></td></tr> 
     118<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qy <br/></td></tr> 
     119<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13f14aea28c7f7b074779ece7df5e748"></a><!-- doxytag: member="bdm::LQG::Qu" ref="a13f14aea28c7f7b074779ece7df5e748" args="" --> 
     120mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a13f14aea28c7f7b074779ece7df5e748">Qu</a></td></tr> 
     121<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qu <br/></td></tr> 
     122<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6c9fa6d9bb0be47ac5ed9183eb38562e"></a><!-- doxytag: member="bdm::LQG::td" ref="a6c9fa6d9bb0be47ac5ed9183eb38562e" args="" --> 
     123int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e">td</a></td></tr> 
     124<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">time of the design step - from horizon-&gt;0 <br/></td></tr> 
     125<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad78bb29a213eef033a9657ec2f592e80"></a><!-- doxytag: member="bdm::LQG::L" ref="ad78bb29a213eef033a9657ec2f592e80" args="" --> 
     126mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80">L</a></td></tr> 
     127<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">controller parameters <br/></td></tr> 
    143128<tr><td colspan="2"><div class="groupHeader">temporary storage for ricatti - use initialize</div></td></tr> 
    144 <tr><td colspan="2"><div class="groupText">convenience parameters <br><br></div></td></tr> 
    145 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ce3c087c11fa4d50f63d2027be572394"></a><!-- doxytag: member="bdm::LQG::dimx" ref="ce3c087c11fa4d50f63d2027be572394" args="" --> 
     129<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrpb642745e6044566e5a5d79fb42ec1d82"></a> convenience parameters </p> 
     130<br/><br/></div></td></tr> 
     131<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace3c087c11fa4d50f63d2027be572394"></a><!-- doxytag: member="bdm::LQG::dimx" ref="ace3c087c11fa4d50f63d2027be572394" args="" --> 
    146132int&nbsp;</td><td class="memItemRight" valign="bottom"><b>dimx</b></td></tr> 
    147  
    148 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="753e909ac3694cde54b4fc718e24fa09"></a><!-- doxytag: member="bdm::LQG::dimy" ref="753e909ac3694cde54b4fc718e24fa09" args="" --> 
    149 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09">dimy</a></td></tr> 
    150  
    151 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br></td></tr> 
    152 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ff701d81aa4f32e0a07a5910f06c8969"></a><!-- doxytag: member="bdm::LQG::dimu" ref="ff701d81aa4f32e0a07a5910f06c8969" args="" --> 
    153 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969">dimu</a></td></tr> 
    154  
    155 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br></td></tr> 
    156 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3f7d31ad976ed1debeeda12949048909"></a><!-- doxytag: member="bdm::LQG::pr" ref="3f7d31ad976ed1debeeda12949048909" args="" --> 
    157 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909">pr</a></td></tr> 
    158  
    159 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">parameters <br></td></tr> 
    160 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="98203a62e12acc13ced7ef22e4ac4255"></a><!-- doxytag: member="bdm::LQG::qux" ref="98203a62e12acc13ced7ef22e4ac4255" args="" --> 
    161 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#98203a62e12acc13ced7ef22e4ac4255">qux</a></td></tr> 
    162  
    163 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br></td></tr> 
    164 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0fc6ec35bd9e5f99192b5ff7b0257aef"></a><!-- doxytag: member="bdm::LQG::qyx" ref="0fc6ec35bd9e5f99192b5ff7b0257aef" args="" --> 
    165 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#0fc6ec35bd9e5f99192b5ff7b0257aef">qyx</a></td></tr> 
    166  
    167 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br></td></tr> 
    168 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5fc6fe8a5205a1698fb319b58315671b"></a><!-- doxytag: member="bdm::LQG::s" ref="5fc6fe8a5205a1698fb319b58315671b" args="" --> 
    169 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b">s</a></td></tr> 
    170  
    171 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal quadratic form <br></td></tr> 
    172 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b29c3dfff52b54e44a793d62afbb5a63"></a><!-- doxytag: member="bdm::LQG::qy" ref="b29c3dfff52b54e44a793d62afbb5a63" args="" --> 
    173 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#b29c3dfff52b54e44a793d62afbb5a63">qy</a></td></tr> 
    174  
    175 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br></td></tr> 
    176 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0f20c8ff99875e3009f2e427247c4c78"></a><!-- doxytag: member="bdm::LQG::hqy" ref="0f20c8ff99875e3009f2e427247c4c78" args="" --> 
    177 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#0f20c8ff99875e3009f2e427247c4c78">hqy</a></td></tr> 
    178  
    179 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre_qr part <br></td></tr> 
    180 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e6c9db2abc7a3290f8e2bb851683d7a0"></a><!-- doxytag: member="bdm::LQG::pre_qr" ref="e6c9db2abc7a3290f8e2bb851683d7a0" args="" --> 
    181 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0">pre_qr</a></td></tr> 
    182  
    183 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre qr matrix <br></td></tr> 
    184 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="13eb495eb5e3c3477e2ebaa4640a642e"></a><!-- doxytag: member="bdm::LQG::post_qr" ref="13eb495eb5e3c3477e2ebaa4640a642e" args="" --> 
    185 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e">post_qr</a></td></tr> 
    186  
    187 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">post qr matrix <br></td></tr> 
     133<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a753e909ac3694cde54b4fc718e24fa09"></a><!-- doxytag: member="bdm::LQG::dimy" ref="a753e909ac3694cde54b4fc718e24fa09" args="" --> 
     134int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09">dimy</a></td></tr> 
     135<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br/></td></tr> 
     136<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aff701d81aa4f32e0a07a5910f06c8969"></a><!-- doxytag: member="bdm::LQG::dimu" ref="aff701d81aa4f32e0a07a5910f06c8969" args="" --> 
     137int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969">dimu</a></td></tr> 
     138<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br/></td></tr> 
     139<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f7d31ad976ed1debeeda12949048909"></a><!-- doxytag: member="bdm::LQG::pr" ref="a3f7d31ad976ed1debeeda12949048909" args="" --> 
     140mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a3f7d31ad976ed1debeeda12949048909">pr</a></td></tr> 
     141<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">parameters <br/></td></tr> 
     142<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a98203a62e12acc13ced7ef22e4ac4255"></a><!-- doxytag: member="bdm::LQG::qux" ref="a98203a62e12acc13ced7ef22e4ac4255" args="" --> 
     143mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a98203a62e12acc13ced7ef22e4ac4255">qux</a></td></tr> 
     144<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
     145<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fc6ec35bd9e5f99192b5ff7b0257aef"></a><!-- doxytag: member="bdm::LQG::qyx" ref="a0fc6ec35bd9e5f99192b5ff7b0257aef" args="" --> 
     146mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a0fc6ec35bd9e5f99192b5ff7b0257aef">qyx</a></td></tr> 
     147<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
     148<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5fc6fe8a5205a1698fb319b58315671b"></a><!-- doxytag: member="bdm::LQG::s" ref="a5fc6fe8a5205a1698fb319b58315671b" args="" --> 
     149mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b">s</a></td></tr> 
     150<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal quadratic form <br/></td></tr> 
     151<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab29c3dfff52b54e44a793d62afbb5a63"></a><!-- doxytag: member="bdm::LQG::qy" ref="ab29c3dfff52b54e44a793d62afbb5a63" args="" --> 
     152mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ab29c3dfff52b54e44a793d62afbb5a63">qy</a></td></tr> 
     153<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
     154<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0f20c8ff99875e3009f2e427247c4c78"></a><!-- doxytag: member="bdm::LQG::hqy" ref="a0f20c8ff99875e3009f2e427247c4c78" args="" --> 
     155mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a0f20c8ff99875e3009f2e427247c4c78">hqy</a></td></tr> 
     156<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre_qr part <br/></td></tr> 
     157<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae6c9db2abc7a3290f8e2bb851683d7a0"></a><!-- doxytag: member="bdm::LQG::pre_qr" ref="ae6c9db2abc7a3290f8e2bb851683d7a0" args="" --> 
     158mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0">pre_qr</a></td></tr> 
     159<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre qr matrix <br/></td></tr> 
     160<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13eb495eb5e3c3477e2ebaa4640a642e"></a><!-- doxytag: member="bdm::LQG::post_qr" ref="a13eb495eb5e3c3477e2ebaa4640a642e" args="" --> 
     161mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e">post_qr</a></td></tr> 
     162<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">post qr matrix <br/></td></tr> 
    188163</table> 
    189 <hr><a name="_details"></a><h2>Detailed Description</h2> 
    190 Linear Quadratic Gaussian designer for constant penalizations and constant target Its internals are very close to <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> estimator <hr><h2>Member Function Documentation</h2> 
    191 <a class="anchor" name="ec1a44c57a4569335a943462b35c3156"></a><!-- doxytag: member="bdm::LQG::initialize" ref="ec1a44c57a4569335a943462b35c3156" args="()" --> 
     164<hr/><a name="_details"></a><h2>Detailed Description</h2> 
     165<p>Linear Quadratic Gaussian designer for constant penalizations and constant target Its internals are very close to <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> estimator </p> 
     166<hr/><h2>Member Function Documentation</h2> 
     167<a class="anchor" id="aec1a44c57a4569335a943462b35c3156"></a><!-- doxytag: member="bdm::LQG::initialize" ref="aec1a44c57a4569335a943462b35c3156" args="()" --> 
    192168<div class="memitem"> 
    193169<div class="memproto"> 
    194170      <table class="memname"> 
    195171        <tr> 
    196           <td class="memname">void bdm::LQG::initialize           </td> 
     172          <td class="memname">void bdm::LQG::initialize </td> 
    197173          <td>(</td> 
    198           <td class="paramname">          </td> 
     174          <td class="paramname"></td> 
    199175          <td>&nbsp;)&nbsp;</td> 
    200176          <td></td> 
    … …  
    204180<div class="memdoc"> 
    205181 
    206 <p> 
    207 set system parameters from <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> filter  
    208 <p> 
    209 refresh temporary storage - inefficient can be improved  
    210 <p>References <a class="el" href="ctrlbase_8h-source.html#l00062">dimu</a>, <a class="el" href="ctrlbase_8h-source.html#l00060">dimy</a>, <a class="el" href="ctrlbase_8h-source.html#l00075">hqy</a>, <a class="el" href="ctrlbase_8h-source.html#l00079">post_qr</a>, <a class="el" href="ctrlbase_8h-source.html#l00065">pr</a>, <a class="el" href="ctrlbase_8h-source.html#l00077">pre_qr</a>, <a class="el" href="ctrlbase_8h-source.html#l00050">Qu</a>, <a class="el" href="ctrlbase_8h-source.html#l00067">qux</a>, <a class="el" href="ctrlbase_8h-source.html#l00048">Qy</a>, <a class="el" href="ctrlbase_8h-source.html#l00069">qyx</a>, <a class="el" href="ctrlbase_8h-source.html#l00071">s</a>, and <a class="el" href="ctrlbase_8h-source.html#l00039">S</a>.</p> 
    211  
    212 <p>Referenced by <a class="el" href="ctrlbase_8cpp-source.html#l00014">set_control_parameters()</a>.</p> 
    213  
    214 </div> 
    215 </div><p> 
    216 <hr>The documentation for this class was generated from the following files:<ul> 
    217 <li><a class="el" href="ctrlbase_8h-source.html">ctrlbase.h</a><li>ctrlbase.cpp</ul> 
    218 </div> 
    219 <hr size="1"><address style="text-align: right;"><small>Generated on Sat Aug 29 20:49:46 2009 for mixpp by&nbsp; 
     182<p>set system parameters from <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> filter </p> 
     183<p>refresh temporary storage - inefficient can be improved </p> 
     184 
     185<p>References <a class="el" href="ctrlbase_8h_source.html#l00062">dimu</a>, <a class="el" href="ctrlbase_8h_source.html#l00060">dimy</a>, <a class="el" href="ctrlbase_8h_source.html#l00075">hqy</a>, <a class="el" href="ctrlbase_8h_source.html#l00079">post_qr</a>, <a class="el" href="ctrlbase_8h_source.html#l00065">pr</a>, <a class="el" href="ctrlbase_8h_source.html#l00077">pre_qr</a>, <a class="el" href="ctrlbase_8h_source.html#l00050">Qu</a>, <a class="el" href="ctrlbase_8h_source.html#l00067">qux</a>, <a class="el" href="ctrlbase_8h_source.html#l00048">Qy</a>, <a class="el" href="ctrlbase_8h_source.html#l00069">qyx</a>, <a class="el" href="ctrlbase_8h_source.html#l00071">s</a>, and <a class="el" href="ctrlbase_8h_source.html#l00039">S</a>.</p> 
     186 
     187<p>Referenced by <a class="el" href="ctrlbase_8cpp_source.html#l00014">set_control_parameters()</a>.</p> 
     188 
     189</div> 
     190</div> 
     191<hr/>The documentation for this class was generated from the following files:<ul> 
     192<li><a class="el" href="ctrlbase_8h_source.html">ctrlbase.h</a></li> 
     193<li>ctrlbase.cpp</li> 
     194</ul> 
     195</div> 
     196<hr size="1"/><address style="text-align: right;"><small>Generated on Sun Aug 30 22:10:50 2009 for mixpp by&nbsp; 
    220197<a href="http://www.doxygen.org/index.html"> 
    221 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> 
     198<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address> 
    222199</body> 
    223200</html>