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# ekf_template.h

Go to the documentation of this file.

    00001
    00013 #ifndef EKF_TEMPLATE_H
    00014 #define EKF_TEMPLATE_H
    00015
    00016 #include "kalman.h"
    00017
    00018 namespace bdm {
    00019
    00021 class EKFful_unQR : public EKFfull  {
    00022 public:
    00023         void condition ( const vec &QR0 ) {
    00024                 Q = diag ( QR0 ( 0, dimx - 1 ) );
    00025                 R = diag ( QR0 ( dimx, dimx + dimy - 1 ) );
    00026         };
    00027 };
    00028
    00030 class EKFCh_dQ : public EKFCh {
    00031 public:
    00032         void condition ( const vec &Q0 ) {
    00033                 Q.setD ( Q0, 0 );
    00034                 //from EKF
    00035                 preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
    00036         };
    00037 };
    00038
    00040 class EKFCh_chQ : public EKFCh {
    00041 public:
    00042         void condition ( const vec &chQ0 ) {
    00043                 Q.setCh ( chQ0 );
    00044                 //from EKF
    00045                 preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
    00046         };
    00047 };
    00048
    00050 class EKFCh_cond : public EKFCh  {
    00051 public:
    00052         void condition ( const vec &val ) {
    00053                 pfxu->condition ( val );
    00054         };
    00055 };
    00056
    00057 }
    00058 #endif //EKF_TEMP_H