Changeset 651 for library/doc/html/ekf__template_8h_source.html
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- 10/12/09 13:49:39 (15 years ago)
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library/doc/html/ekf__template_8h_source.html (modified) (7 diffs)
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library/doc/html/ekf__template_8h_source.html
r641 r651 1 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 2 <html xmlns="http://www.w3.org/1999/xhtml"> 3 <head> 4 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> 1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> 2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> 5 3 <title>mixpp: ekf_template.h Source File</title> 6 <link href="tabs.css" rel="stylesheet" type="text/css"/> 7 <link href="doxygen.css" rel="stylesheet" type="text/css"/> 8 </head> 9 <body> 10 <!-- Generated by Doxygen 1.6.1 --> 4 <link href="tabs.css" rel="stylesheet" type="text/css"> 5 <link href="doxygen.css" rel="stylesheet" type="text/css"> 6 </head><body> 7 <!-- Generated by Doxygen 1.5.9 --> 11 8 <script type="text/javascript"> 12 9 <!-- … … 69 66 <a name="l00014"></a>00014 <span class="preprocessor"></span><span class="preprocessor">#define EKF_TEMPLATE_H</span> 70 67 <a name="l00015"></a>00015 <span class="preprocessor"></span> 71 <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="kalman_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">kalman.h</a>"</span>68 <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="kalman_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">kalman.h</a>"</span> 72 69 <a name="l00017"></a>00017 73 70 <a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm { … … 75 72 <a name="l00021"></a><a class="code" href="classbdm_1_1EKFful__unQR.html">00021</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFful__unQR.html" title="Extended Kalman filter with unknown Q and R.">EKFful_unQR</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a> { 76 73 <a name="l00022"></a>00022 <span class="keyword">public</span>: 77 <a name="l00023"></a><a class="code" href="classbdm_1_1EKFful__unQR.html# a17a98c06f5efe38e0da0beb96d6f9584">00023</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFful__unQR.html#a17a98c06f5efe38e0da0beb96d6f9584" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &QR0 ) {78 <a name="l00024"></a>00024 <a class="code" href="classbdm_1_1StateSpace.html# a66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a> = diag ( QR0 ( 0, <a class="code" href="classbdm_1_1StateSpace.html#ac3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> - 1 ) );79 <a name="l00025"></a>00025 <a class="code" href="classbdm_1_1StateSpace.html# a11dd3493d62ec9329860386adb3e6084" title="Matrix R in square-root form.">R</a> = diag ( QR0 ( <a class="code" href="classbdm_1_1StateSpace.html#ac3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#ac3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> + <a class="code" href="classbdm_1_1StateSpace.html#a3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> - 1 ) );74 <a name="l00023"></a><a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584">00023</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &QR0 ) { 75 <a name="l00024"></a>00024 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a> = diag ( QR0 ( 0, <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> - 1 ) ); 76 <a name="l00025"></a>00025 <a class="code" href="classbdm_1_1StateSpace.html#11dd3493d62ec9329860386adb3e6084" title="Matrix R in square-root form.">R</a> = diag ( QR0 ( <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> + <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> - 1 ) ); 80 77 <a name="l00026"></a>00026 }; 81 78 <a name="l00027"></a>00027 }; … … 83 80 <a name="l00030"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html">00030</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__dQ.html" title="Extended Kalman filter in Choleski form with unknown diagonal Q.">EKFCh_dQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> { 84 81 <a name="l00031"></a>00031 <span class="keyword">public</span>: 85 <a name="l00032"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html# ab37b8ffb5699b4edd533fda4ffeaa916">00032</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__dQ.html#ab37b8ffb5699b4edd533fda4ffeaa916" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &Q0 ) {86 <a name="l00033"></a>00033 <a class="code" href="classbdm_1_1StateSpace.html# a66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#ab192df5b54b173ba9bc6922ee9983bc9" title="Access functions.">setD</a> ( Q0, 0 );82 <a name="l00032"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916">00032</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &Q0 ) { 83 <a name="l00033"></a>00033 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b192df5b54b173ba9bc6922ee9983bc9" title="Access functions.">setD</a> ( Q0, 0 ); 87 84 <a name="l00034"></a>00034 <span class="comment">//from EKF</span> 88 <a name="l00035"></a>00035 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html# a3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#ac3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#a3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#a66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#a17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() );85 <a name="l00035"></a>00035 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() ); 89 86 <a name="l00036"></a>00036 }; 90 87 <a name="l00037"></a>00037 }; … … 92 89 <a name="l00040"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html">00040</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__chQ.html" title="Extended Kalman filter in Choleski form with unknown Q.">EKFCh_chQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> { 93 90 <a name="l00041"></a>00041 <span class="keyword">public</span>: 94 <a name="l00042"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html# ae663ea1b2e9ca242a932b837d99d9c6b">00042</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__chQ.html#ae663ea1b2e9ca242a932b837d99d9c6b" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &chQ0 ) {95 <a name="l00043"></a>00043 <a class="code" href="classbdm_1_1StateSpace.html# a66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#ab8fd18754b0e5e0463f818cd16c710c8" title="Access functions.">setCh</a> ( chQ0 );91 <a name="l00042"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b">00042</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &chQ0 ) { 92 <a name="l00043"></a>00043 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b8fd18754b0e5e0463f818cd16c710c8" title="Access functions.">setCh</a> ( chQ0 ); 96 93 <a name="l00044"></a>00044 <span class="comment">//from EKF</span> 97 <a name="l00045"></a>00045 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html# a3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#ac3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#a3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#a66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#a17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() );94 <a name="l00045"></a>00045 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() ); 98 95 <a name="l00046"></a>00046 }; 99 96 <a name="l00047"></a>00047 }; … … 101 98 <a name="l00050"></a><a class="code" href="classbdm_1_1EKFCh__cond.html">00050</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__cond.html" title="Extended Kalman filter with unknown parameters in IM.">EKFCh_cond</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> { 102 99 <a name="l00051"></a>00051 <span class="keyword">public</span>: 103 <a name="l00052"></a><a class="code" href="classbdm_1_1EKFCh__cond.html# a8c792fe284f4a26e6af9de251323fc52">00052</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__cond.html#a8c792fe284f4a26e6af9de251323fc52" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &val ) {104 <a name="l00053"></a>00053 <a class="code" href="classbdm_1_1EKFCh.html# a5dc1964a6058057c9e17ea3c2f33bd2a" title="Internal Model f(x,u).">pfxu</a>->condition ( val );100 <a name="l00052"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52">00052</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &val ) { 101 <a name="l00053"></a>00053 <a class="code" href="classbdm_1_1EKFCh.html#5dc1964a6058057c9e17ea3c2f33bd2a" title="Internal Model f(x,u).">pfxu</a>->condition ( val ); 105 102 <a name="l00054"></a>00054 }; 106 103 <a name="l00055"></a>00055 }; … … 109 106 <a name="l00058"></a>00058 <span class="preprocessor">#endif //EKF_TEMP_H</span> 110 107 </pre></div></div> 111 <hr size="1" /><address style="text-align: right;"><small>Generated on Sun Sep 27 00:49:042009 for mixpp by 108 <hr size="1"><address style="text-align: right;"><small>Generated on Wed Oct 7 17:34:43 2009 for mixpp by 112 109 <a href="http://www.doxygen.org/index.html"> 113 <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1</small></address>110 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address> 114 111 </body> 115 112 </html>
