#include <kalman.h>
Public Member Functions | |
| void | connect_mlnorm (const mlnorm< fsqmat > &ml) |
| set up this object to match given mlnorm | |
| void | update_from (const mlnorm< fsqmat > &ml) |
| fast function to update parameters from ml - not checked for compatibility!! | |
| void | set_parameters (const mat &A0, const mat &B0, const mat &C0, const mat &D0, const fsqmat &Q0, const fsqmat &R0) |
| void | validate () |
| void | from_setting (const Setting &set) |
| not virtual in this case | |
| int | _dimx () |
| access function | |
| int | _dimy () |
| access function | |
| int | _dimu () |
| access function | |
| const mat & | _A () const |
| access function | |
| const mat & | _B () const |
| access function | |
| const mat & | _C () const |
| access function | |
| const mat & | _D () const |
| access function | |
| const fsqmat & | _Q () const |
| access function | |
| const fsqmat & | _R () const |
| access function | |
Protected Attributes | |
| datalink_part | th2A |
| remember connection from theta ->A | |
| datalink_part | th2C |
| remember connection from theta ->C | |
| datalink_part | th2D |
| remember connection from theta ->D | |
| vec | A1row |
| cached first row of A | |
| vec | C1row |
| cached first row of C | |
| vec | D1row |
| cached first row of D | |
| int | dimx |
| cache of rv.count() | |
| int | dimy |
| cache of rvy.count() | |
| int | dimu |
| cache of rvu.count() | |
| mat | A |
| Matrix A. | |
| mat | B |
| Matrix B. | |
| mat | C |
| Matrix C. | |
| mat | D |
| Matrix D. | |
| fsqmat | Q |
| Matrix Q in square-root form. | |
| fsqmat | R |
| Matrix R in square-root form. | |
The model is constructed as:
For example, for: Using Frobenius form, see [].
For easier use in the future, indeces theta_in_A and theta_in_C are set. TODO - explain
1.5.9