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    53<title>mixpp: bdm::LQG Class Reference</title> 
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    73 <h1>bdm::LQG Class Reference</h1><!-- doxytag: class="bdm::LQG" --><!-- doxytag: inherits="bdm::Designer" --><hr/><a name="_details"></a><h2>Detailed Description</h2> 
    74 <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> 
    75  
    76 <p><code>#include &lt;<a class="el" href="ctrlbase_8h_source.html">ctrlbase.h</a>&gt;</code></p> 
    77  
    78 <p><a href="classbdm_1_1LQG-members.html">List of all members.</a></p> 
    79 <table border="0" cellpadding="0" cellspacing="0"> 
    80 <tr><td colspan="2"><h2>Public Member Functions</h2></td></tr> 
    81 <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)" --> 
    82 void&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> 
    83 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set system parameters from given matrices <br/></td></tr> 
    84 <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)" --> 
    85 void&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> 
    86 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">set penalization matrices and control horizon <br/></td></tr> 
    87 <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> 
    88 <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> 
    89 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a96c8fb67798ccd783467fcb607296954"></a><!-- doxytag: member="bdm::LQG::validate" ref="a96c8fb67798ccd783467fcb607296954" args="()" --> 
     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)" --> 
     78void&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)" --> 
     82void&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="()" --> 
    9089void&nbsp;</td><td class="memItemRight" valign="bottom"><b>validate</b> ()</td></tr> 
    91 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5016aebbb654a0e3d653b8485e0ea86c"></a><!-- doxytag: member="bdm::LQG::update_state" ref="a5016aebbb654a0e3d653b8485e0ea86c" args="()" --> 
    92 virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c">update_state</a> ()</td></tr> 
    93 <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> 
    94 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="addc5444b092fdb36239f83ab1ae85805"></a><!-- doxytag: member="bdm::LQG::ricatti_step" ref="addc5444b092fdb36239f83ab1ae85805" args="()" --> 
    95 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805">ricatti_step</a> ()</td></tr> 
    96 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">redesign one step of the <br/></td></tr> 
    97 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae8df589bbdbdd40515f837c9c9560ed8"></a><!-- doxytag: member="bdm::LQG::redesign" ref="ae8df589bbdbdd40515f837c9c9560ed8" args="()" --> 
    98 void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8">redesign</a> ()</td></tr> 
    99 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Redesign control strategy. <br/></td></tr> 
    100 <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)" --> 
     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="()" --> 
     92virtual 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="()" --> 
     96void&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="()" --> 
     100void&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)" --> 
    101104vec&nbsp;</td><td class="memItemRight" valign="bottom"><b>apply</b> (const vec &amp;state, const vec &amp;ukm)</td></tr> 
    102 <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)" --> 
    103 virtual 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> 
    104 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">apply control strategy to obtain control input <br/></td></tr> 
    105 <tr><td colspan="2"><h2>Protected Attributes</h2></td></tr> 
    106 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9575232a3b04933e6b4c4299bf1bfe15"></a><!-- doxytag: member="bdm::LQG::S" ref="a9575232a3b04933e6b4c4299bf1bfe15" args="" --> 
    107 <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> 
    108 <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> 
    109 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad002e3dc31c59db7f286b00a8e2fc65"></a><!-- doxytag: member="bdm::LQG::y_req" ref="aad002e3dc31c59db7f286b00a8e2fc65" args="" --> 
    110 vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#aad002e3dc31c59db7f286b00a8e2fc65">y_req</a></td></tr> 
    111 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br/></td></tr> 
    112 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8dc7e6ca7949ded1d94ccd78cb8bb2da"></a><!-- doxytag: member="bdm::LQG::u_req" ref="a8dc7e6ca7949ded1d94ccd78cb8bb2da" args="" --> 
    113 vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a8dc7e6ca7949ded1d94ccd78cb8bb2da">u_req</a></td></tr> 
    114 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">required value of the output y at time t (assumed constant) <br/></td></tr> 
    115 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae770d283502cf4da978d1d8523309869"></a><!-- doxytag: member="bdm::LQG::horizon" ref="ae770d283502cf4da978d1d8523309869" args="" --> 
    116 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae770d283502cf4da978d1d8523309869">horizon</a></td></tr> 
    117 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Control horizon, set to maxint for infinite horizons. <br/></td></tr> 
    118 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a484963959d51059d73d9c6174782cc2f"></a><!-- doxytag: member="bdm::LQG::Qy" ref="a484963959d51059d73d9c6174782cc2f" args="" --> 
    119 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a484963959d51059d73d9c6174782cc2f">Qy</a></td></tr> 
    120 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qy <br/></td></tr> 
    121 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13f14aea28c7f7b074779ece7df5e748"></a><!-- doxytag: member="bdm::LQG::Qu" ref="a13f14aea28c7f7b074779ece7df5e748" args="" --> 
    122 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a13f14aea28c7f7b074779ece7df5e748">Qu</a></td></tr> 
    123 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization matrix Qu <br/></td></tr> 
    124 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6c9fa6d9bb0be47ac5ed9183eb38562e"></a><!-- doxytag: member="bdm::LQG::td" ref="a6c9fa6d9bb0be47ac5ed9183eb38562e" args="" --> 
    125 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e">td</a></td></tr> 
    126 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">time of the design step - from horizon-&gt;0 <br/></td></tr> 
    127 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad78bb29a213eef033a9657ec2f592e80"></a><!-- doxytag: member="bdm::LQG::L" ref="ad78bb29a213eef033a9657ec2f592e80" args="" --> 
    128 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80">L</a></td></tr> 
    129 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">controller parameters <br/></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)" --> 
     107virtual 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="" --> 
     116vec&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="" --> 
     120vec&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="" --> 
     124int&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="" --> 
     128mat&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="" --> 
     132mat&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="" --> 
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     137 
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     140mat&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> 
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    131 <tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrpb642745e6044566e5a5d79fb42ec1d82"></a> convenience parameters </p> 
    132 <br/><br/></div></td></tr> 
    133 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace3c087c11fa4d50f63d2027be572394"></a><!-- doxytag: member="bdm::LQG::dimx" ref="ace3c087c11fa4d50f63d2027be572394" args="" --> 
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    134146int&nbsp;</td><td class="memItemRight" valign="bottom"><b>dimx</b></td></tr> 
    135 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a753e909ac3694cde54b4fc718e24fa09"></a><!-- doxytag: member="bdm::LQG::dimy" ref="a753e909ac3694cde54b4fc718e24fa09" args="" --> 
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    137 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br/></td></tr> 
    138 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aff701d81aa4f32e0a07a5910f06c8969"></a><!-- doxytag: member="bdm::LQG::dimu" ref="aff701d81aa4f32e0a07a5910f06c8969" args="" --> 
    139 int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969">dimu</a></td></tr> 
    140 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">convenience parameters <br/></td></tr> 
    141 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f7d31ad976ed1debeeda12949048909"></a><!-- doxytag: member="bdm::LQG::pr" ref="a3f7d31ad976ed1debeeda12949048909" args="" --> 
    142 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a3f7d31ad976ed1debeeda12949048909">pr</a></td></tr> 
    143 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">parameters <br/></td></tr> 
    144 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a98203a62e12acc13ced7ef22e4ac4255"></a><!-- doxytag: member="bdm::LQG::qux" ref="a98203a62e12acc13ced7ef22e4ac4255" args="" --> 
    145 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a98203a62e12acc13ced7ef22e4ac4255">qux</a></td></tr> 
    146 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
    147 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fc6ec35bd9e5f99192b5ff7b0257aef"></a><!-- doxytag: member="bdm::LQG::qyx" ref="a0fc6ec35bd9e5f99192b5ff7b0257aef" args="" --> 
    148 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a0fc6ec35bd9e5f99192b5ff7b0257aef">qyx</a></td></tr> 
    149 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
    150 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5fc6fe8a5205a1698fb319b58315671b"></a><!-- doxytag: member="bdm::LQG::s" ref="a5fc6fe8a5205a1698fb319b58315671b" args="" --> 
    151 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b">s</a></td></tr> 
    152 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal quadratic form <br/></td></tr> 
    153 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab29c3dfff52b54e44a793d62afbb5a63"></a><!-- doxytag: member="bdm::LQG::qy" ref="ab29c3dfff52b54e44a793d62afbb5a63" args="" --> 
    154 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ab29c3dfff52b54e44a793d62afbb5a63">qy</a></td></tr> 
    155 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">penalization <br/></td></tr> 
    156 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0f20c8ff99875e3009f2e427247c4c78"></a><!-- doxytag: member="bdm::LQG::hqy" ref="a0f20c8ff99875e3009f2e427247c4c78" args="" --> 
    157 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a0f20c8ff99875e3009f2e427247c4c78">hqy</a></td></tr> 
    158 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre_qr part <br/></td></tr> 
    159 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae6c9db2abc7a3290f8e2bb851683d7a0"></a><!-- doxytag: member="bdm::LQG::pre_qr" ref="ae6c9db2abc7a3290f8e2bb851683d7a0" args="" --> 
    160 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0">pre_qr</a></td></tr> 
    161 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">pre qr matrix <br/></td></tr> 
    162 <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13eb495eb5e3c3477e2ebaa4640a642e"></a><!-- doxytag: member="bdm::LQG::post_qr" ref="a13eb495eb5e3c3477e2ebaa4640a642e" args="" --> 
    163 mat&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e">post_qr</a></td></tr> 
    164 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">post qr matrix <br/></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="" --> 
     149int&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="" --> 
     153int&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="" --> 
     157mat&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="" --> 
     161mat&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="" --> 
     165mat&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="" --> 
     169mat&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="" --> 
     173mat&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="" --> 
     177mat&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="" --> 
     181mat&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="" --> 
     185mat&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> 
    165188</table> 
    166 <hr/><h2>Member Function Documentation</h2> 
    167 <a class="anchor" id="aec1a44c57a4569335a943462b35c3156"></a><!-- doxytag: member="bdm::LQG::initialize" ref="aec1a44c57a4569335a943462b35c3156" args="()" --> 
     189<hr><a name="_details"></a><h2>Detailed Description</h2> 
     190Linear 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="()" --> 
    168192<div class="memitem"> 
    169193<div class="memproto"> 
    170194      <table class="memname"> 
    171195        <tr> 
    172           <td class="memname">void bdm::LQG::initialize </td> 
     196          <td class="memname">void bdm::LQG::initialize           </td> 
    173197          <td>(</td> 
    174           <td class="paramname"></td> 
     198          <td class="paramname">          </td> 
    175199          <td>&nbsp;)&nbsp;</td> 
    176200          <td></td> 
    … …  
    180204<div class="memdoc"> 
    181205 
    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  
     206<p> 
     207set system parameters from <a class="el" href="classbdm_1_1Kalman.html" title="Common abstract base for Kalman filters.">Kalman</a> filter  
     208<p> 
     209refresh temporary storage - inefficient can be improved  
    185210<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> 
    186211 
    … …  
    188213 
    189214</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 Sep 27 00:49:05 2009 for mixpp by&nbsp; 
     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 Wed Oct 7 17:34:46 2009 for mixpp by&nbsp; 
    197220<a href="http://www.doxygen.org/index.html"> 
    198 <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address> 
     221<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address> 
    199222</body> 
    200223</html>