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    35<title>mixpp: bdm::LQG_ARX Class Reference</title> 
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    70 <h1>bdm::LQG_ARX Class Reference</h1><!-- doxytag: class="bdm::LQG_ARX" --><!-- doxytag: inherits="bdm::Controller" --><a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control.   
    71 <a href="#_details">More...</a> 
    72 <p> 
    73 <code>#include &lt;<a class="el" href="arx__ctrl_8h-source.html">arx_ctrl.h</a>&gt;</code> 
    74 <p> 
     73<h1>bdm::LQG_ARX Class Reference</h1><!-- doxytag: class="bdm::LQG_ARX" --><!-- doxytag: inherits="bdm::Controller" --> 
     74<p><a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control.   
     75<a href="#_details">More...</a></p> 
    7576 
    76 <p> 
    77 <a href="classbdm_1_1LQG__ARX-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0"> 
    78 <tr><td></td></tr> 
    79 <tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr> 
    80 <tr><td class="memItemLeft" nowrap align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a8b901b37f009400fa68bfdefa473eeb">LQG_ARX</a> ()</td></tr> 
     77<p><code>#include &lt;<a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a>&gt;</code></p> 
    8178 
    82 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e9131f387df9d29d9859bbcdeb7cb504"></a><!-- doxytag: member="bdm::LQG_ARX::initialize" ref="e9131f387df9d29d9859bbcdeb7cb504" args="()" --> 
     79<p><a href="classbdm_1_1LQG__ARX-members.html">List of all members.</a></p> 
     80<table border="0" cellpadding="0" cellspacing="0"> 
     81<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr> 
     82<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#aa8b901b37f009400fa68bfdefa473eeb">LQG_ARX</a> ()</td></tr> 
     83<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae9131f387df9d29d9859bbcdeb7cb504"></a><!-- doxytag: member="bdm::LQG_ARX::initialize" ref="ae9131f387df9d29d9859bbcdeb7cb504" args="()" --> 
    8384void&nbsp;</td><td class="memItemRight" valign="bottom"><b>initialize</b> ()</td></tr> 
    84  
    85 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="838a63f9481b4bb8055896492a30c0af"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="838a63f9481b4bb8055896492a30c0af" args="()" --> 
    86 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#838a63f9481b4bb8055896492a30c0af">adapt</a> ()</td></tr> 
    87  
    88 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">adaptation is to store arx estimates in stsp <br></td></tr> 
    89 <tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#2c9556d56bb75fc2eb6c0c7d8e9e0145">from_settings</a> (const Settings &amp;set)</td></tr> 
    90  
    91 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function.  <a href="#2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><br></td></tr> 
    92 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d8bf38082502020d56dbd48806018774"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="d8bf38082502020d56dbd48806018774" args="(const vec &amp;data)" --> 
    93 virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774">adapt</a> (const vec &amp;data)</td></tr> 
    94  
    95 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function processing new observations and adapting control strategy accordingly <br></td></tr> 
    96 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7103224088fcd72bc44eeb08ad5ce180"></a><!-- doxytag: member="bdm::LQG_ARX::ctrlaction" ref="7103224088fcd72bc44eeb08ad5ce180" args="(const vec &amp;data)" --> 
    97 virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180">ctrlaction</a> (const vec &amp;data)</td></tr> 
    98  
    99 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">returns designed control action <br></td></tr> 
    100 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8dfccd2b84552efcdc7f595c021ff77"></a><!-- doxytag: member="bdm::LQG_ARX::from_setting" ref="a8dfccd2b84552efcdc7f595c021ff77" args="(const Setting &amp;set)" --> 
    101 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77">from_setting</a> (const Setting &amp;set)</td></tr> 
    102  
    103 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method arrange instance properties according the data stored in the Setting structure. <br></td></tr> 
    104 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5c5b40a9e65abc1434c8a34c9752e25d"></a><!-- doxytag: member="bdm::LQG_ARX::_urv" ref="5c5b40a9e65abc1434c8a34c9752e25d" args="()" --> 
    105 const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#5c5b40a9e65abc1434c8a34c9752e25d">_urv</a> ()</td></tr> 
    106  
    107 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr> 
    108 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="258f7c6435343b088ed02a304cab99b0"></a><!-- doxytag: member="bdm::LQG_ARX::_yrv" ref="258f7c6435343b088ed02a304cab99b0" args="()" --> 
    109 const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#258f7c6435343b088ed02a304cab99b0">_yrv</a> ()</td></tr> 
    110  
    111 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr> 
    112 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="51e1fbd42ba80789f31b5bc14068f498"></a><!-- doxytag: member="bdm::LQG_ARX::_drv" ref="51e1fbd42ba80789f31b5bc14068f498" args="()" --> 
    113 const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#51e1fbd42ba80789f31b5bc14068f498">_drv</a> ()</td></tr> 
    114  
    115 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr> 
    116 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="af0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::LQG_ARX::to_string" ref="af0e6941ba5919cae1bc530e2181b109" args="()" --> 
    117 virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#af0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr> 
    118  
    119 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method returns a basic info about the current instance. <br></td></tr> 
    120 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::LQG_ARX::to_setting" ref="67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " --> 
    121 virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#67d954d255ede776eade7334d4895790">to_setting</a> (Setting &amp;set) const </td></tr> 
    122  
    123 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br></td></tr> 
    124 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::LQG_ARX::validate" ref="1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" --> 
    125 virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr> 
    126  
    127 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br></td></tr> 
    128 <tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr> 
    129 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e826eb0d2392dfd782d5f213df6288cc"></a><!-- doxytag: member="bdm::LQG_ARX::ar" ref="e826eb0d2392dfd782d5f213df6288cc" args="" --> 
    130 shared_prt&lt; <a class="el" href="classbdm_1_1ARX.html">ARX</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#e826eb0d2392dfd782d5f213df6288cc">ar</a></td></tr> 
    131  
    132 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> estimator. <br></td></tr> 
    133 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="fb08b341bf00588e7aa6aba33db315c9"></a><!-- doxytag: member="bdm::LQG_ARX::lq" ref="fb08b341bf00588e7aa6aba33db315c9" args="" --> 
    134 <a class="el" href="classbdm_1_1LQG.html">LQG</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#fb08b341bf00588e7aa6aba33db315c9">lq</a></td></tr> 
    135  
    136 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer. <br></td></tr> 
    137 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d5ddc7af692f2c1b2f04ea903ed966f4"></a><!-- doxytag: member="bdm::LQG_ARX::stsp" ref="d5ddc7af692f2c1b2f04ea903ed966f4" args="" --> 
    138 sharer_ptr&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#d5ddc7af692f2c1b2f04ea903ed966f4">stsp</a></td></tr> 
    139  
    140 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Intermediate <a class="el" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a> model. <br></td></tr> 
     85<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a838a63f9481b4bb8055896492a30c0af"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="a838a63f9481b4bb8055896492a30c0af" args="()" --> 
     86void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af">adapt</a> ()</td></tr> 
     87<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">adaptation is to store arx estimates in stsp <br/></td></tr> 
     88<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a2c9556d56bb75fc2eb6c0c7d8e9e0145">from_settings</a> (const Settings &amp;set)</td></tr> 
     89<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function.  <a href="#a2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><br/></td></tr> 
     90<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad8bf38082502020d56dbd48806018774"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="ad8bf38082502020d56dbd48806018774" args="(const vec &amp;data)" --> 
     91virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774">adapt</a> (const vec &amp;data)</td></tr> 
     92<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function processing new observations and adapting control strategy accordingly <br/></td></tr> 
     93<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7103224088fcd72bc44eeb08ad5ce180"></a><!-- doxytag: member="bdm::LQG_ARX::ctrlaction" ref="a7103224088fcd72bc44eeb08ad5ce180" args="(const vec &amp;data)" --> 
     94virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180">ctrlaction</a> (const vec &amp;data)</td></tr> 
     95<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">returns designed control action <br/></td></tr> 
     96<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8dfccd2b84552efcdc7f595c021ff77"></a><!-- doxytag: member="bdm::LQG_ARX::from_setting" ref="aa8dfccd2b84552efcdc7f595c021ff77" args="(const Setting &amp;set)" --> 
     97void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77">from_setting</a> (const Setting &amp;set)</td></tr> 
     98<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method arrange instance properties according the data stored in the Setting structure. <br/></td></tr> 
     99<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5c5b40a9e65abc1434c8a34c9752e25d"></a><!-- doxytag: member="bdm::LQG_ARX::_urv" ref="a5c5b40a9e65abc1434c8a34c9752e25d" args="()" --> 
     100const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d">_urv</a> ()</td></tr> 
     101<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr> 
     102<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a258f7c6435343b088ed02a304cab99b0"></a><!-- doxytag: member="bdm::LQG_ARX::_yrv" ref="a258f7c6435343b088ed02a304cab99b0" args="()" --> 
     103const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0">_yrv</a> ()</td></tr> 
     104<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr> 
     105<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51e1fbd42ba80789f31b5bc14068f498"></a><!-- doxytag: member="bdm::LQG_ARX::_drv" ref="a51e1fbd42ba80789f31b5bc14068f498" args="()" --> 
     106const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498">_drv</a> ()</td></tr> 
     107<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr> 
     108<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaf0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::LQG_ARX::to_string" ref="aaf0e6941ba5919cae1bc530e2181b109" args="()" --> 
     109virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#aaf0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr> 
     110<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method returns a basic info about the current instance. <br/></td></tr> 
     111<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::LQG_ARX::to_setting" ref="a67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " --> 
     112virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#a67d954d255ede776eade7334d4895790">to_setting</a> (Setting &amp;set) const </td></tr> 
     113<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br/></td></tr> 
     114<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::LQG_ARX::validate" ref="a1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" --> 
     115virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#a1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr> 
     116<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br/></td></tr> 
     117<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr> 
     118<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae826eb0d2392dfd782d5f213df6288cc"></a><!-- doxytag: member="bdm::LQG_ARX::ar" ref="ae826eb0d2392dfd782d5f213df6288cc" args="" --> 
     119shared_prt&lt; <a class="el" href="classbdm_1_1ARX.html">ARX</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc">ar</a></td></tr> 
     120<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> estimator. <br/></td></tr> 
     121<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb08b341bf00588e7aa6aba33db315c9"></a><!-- doxytag: member="bdm::LQG_ARX::lq" ref="afb08b341bf00588e7aa6aba33db315c9" args="" --> 
     122<a class="el" href="classbdm_1_1LQG.html">LQG</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#afb08b341bf00588e7aa6aba33db315c9">lq</a></td></tr> 
     123<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer. <br/></td></tr> 
     124<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5ddc7af692f2c1b2f04ea903ed966f4"></a><!-- doxytag: member="bdm::LQG_ARX::stsp" ref="ad5ddc7af692f2c1b2f04ea903ed966f4" args="" --> 
     125sharer_ptr&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4">stsp</a></td></tr> 
     126<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Intermediate <a class="el" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a> model. <br/></td></tr> 
    141127</table> 
    142 <hr><a name="_details"></a><h2>Detailed Description</h2> 
    143 <a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control. <hr><h2>Constructor &amp; Destructor Documentation</h2> 
    144 <a class="anchor" name="a8b901b37f009400fa68bfdefa473eeb"></a><!-- doxytag: member="bdm::LQG_ARX::LQG_ARX" ref="a8b901b37f009400fa68bfdefa473eeb" args="()" --> 
     128<hr/><a name="_details"></a><h2>Detailed Description</h2> 
     129<p><a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control. </p> 
     130<hr/><h2>Constructor &amp; Destructor Documentation</h2> 
     131<a class="anchor" id="aa8b901b37f009400fa68bfdefa473eeb"></a><!-- doxytag: member="bdm::LQG_ARX::LQG_ARX" ref="aa8b901b37f009400fa68bfdefa473eeb" args="()" --> 
    145132<div class="memitem"> 
    146133<div class="memproto"> 
    147134      <table class="memname"> 
    148135        <tr> 
    149           <td class="memname">bdm::LQG_ARX::LQG_ARX           </td> 
     136          <td class="memname">bdm::LQG_ARX::LQG_ARX </td> 
    150137          <td>(</td> 
    151           <td class="paramname">          </td> 
     138          <td class="paramname"></td> 
     139          <td>&nbsp;)&nbsp;</td> 
     140          <td><code> [inline]</code></td> 
     141        </tr> 
     142      </table> 
     143</div> 
     144<div class="memdoc"> 
     145<p>Default constructor </p> 
     146 
     147</div> 
     148</div> 
     149<hr/><h2>Member Function Documentation</h2> 
     150<a class="anchor" id="a2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><!-- doxytag: member="bdm::LQG_ARX::from_settings" ref="a2c9556d56bb75fc2eb6c0c7d8e9e0145" args="(const Settings &amp;set)" --> 
     151<div class="memitem"> 
     152<div class="memproto"> 
     153      <table class="memname"> 
     154        <tr> 
     155          <td class="memname">void bdm::LQG_ARX::from_settings </td> 
     156          <td>(</td> 
     157          <td class="paramtype">const Settings &amp;&nbsp;</td> 
     158          <td class="paramname"> <em>set</em></td> 
    152159          <td>&nbsp;)&nbsp;</td> 
    153160          <td><code> [inline]</code></td> 
    … …  
    157164<div class="memdoc"> 
    158165 
    159 <p> 
    160 Default constructor  
    161 </div> 
    162 </div><p> 
    163 <hr><h2>Member Function Documentation</h2> 
    164 <a class="anchor" name="2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><!-- doxytag: member="bdm::LQG_ARX::from_settings" ref="2c9556d56bb75fc2eb6c0c7d8e9e0145" args="(const Settings &amp;set)" --> 
    165 <div class="memitem"> 
    166 <div class="memproto"> 
    167       <table class="memname"> 
    168         <tr> 
    169           <td class="memname">void bdm::LQG_ARX::from_settings           </td> 
    170           <td>(</td> 
    171           <td class="paramtype">const Settings &amp;&nbsp;</td> 
    172           <td class="paramname"> <em>set</em>          </td> 
    173           <td>&nbsp;)&nbsp;</td> 
    174           <td><code> [inline]</code></td> 
    175         </tr> 
    176       </table> 
    177 </div> 
    178 <div class="memdoc"> 
    179  
    180 <p> 
    181 <a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function.  
    182 <p> 
     166<p><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function. </p> 
    183167<p class="formulaDsp"> 
    184 <img class="formulaDsp" alt="\[ L(y,u) = (y-y_{req})'Q_y (y-y_{req}) + (u-u_{req})' Q_u (u-u_{req}) \]" src="form_138.png"> 
    185 <p> 
    186  expected input <div class="fragment"><pre class="fragment">                { <span class="keyword">class</span>=<span class="stringliteral">"LQG"</span>; 
    187                         arx = {<span class="keyword">class</span>=<span class="stringliteral">"ARX"</span>, ...} <span class="comment">// internal arx model, see </span> 
    188                         Qy = (<span class="stringliteral">"matrix"</span>, ...);  
    189                         Qu = (<span class="stringliteral">"matrix"</span>, ...);  
     168<img class="formulaDsp" alt="\[ L(y,u) = (y-y_{req})'Q_y (y-y_{req}) + (u-u_{req})' Q_u (u-u_{req}) \]" src="form_138.png"/> 
     169</p> 
     170<p> expected input </p> 
     171<div class="fragment"><pre class="fragment">                { <span class="keyword">class</span>=<span class="stringliteral">&quot;LQG&quot;</span>; 
     172                        arx = {<span class="keyword">class</span>=<span class="stringliteral">&quot;ARX&quot;</span>, ...} <span class="comment">// internal arx model, see </span> 
     173                        Qy = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);  
     174                        Qu = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);  
    190175                        yreq = [];               <span class="comment">// requested output</span> 
    191176                        ureq = [];               <span class="comment">// requested input value</span> 
    192177                } 
    193178</pre></div>  
    194 <p>References <a class="el" href="arx__ctrl_8h-source.html#l00024">ar</a>, and <a class="el" href="user__info_8h-source.html#l00443">bdm::UI::get()</a>.</p> 
     179<p>References <a class="el" href="arx__ctrl_8h_source.html#l00024">ar</a>, and <a class="el" href="user__info_8h_source.html#l00443">bdm::UI::get()</a>.</p> 
    195180 
    196181</div> 
    197 </div><p> 
    198 <hr>The documentation for this class was generated from the following file:<ul> 
    199 <li><a class="el" href="arx__ctrl_8h-source.html">arx_ctrl.h</a></ul> 
    200182</div> 
    201 <hr size="1"><address style="text-align: right;"><small>Generated on Sat Aug 29 20:49:46 2009 for mixpp by&nbsp; 
     183<hr/>The documentation for this class was generated from the following file:<ul> 
     184<li><a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a></li> 
     185</ul> 
     186</div> 
     187<hr size="1"/><address style="text-align: right;"><small>Generated on Sun Aug 30 22:10:50 2009 for mixpp by&nbsp; 
    202188<a href="http://www.doxygen.org/index.html"> 
    203 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> 
     189<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address> 
    204190</body> 
    205191</html>