Changeset 67

Timestamp:

04/09/08 15:40:33 (17 years ago)

Author:

smidl

Message:

opavy

Location:

bdm

Files:

• estim/libKF.cpp (modified) (2 diffs)
• estim/libKF.h (modified) (2 diffs)
• estim/libPF.h (modified) (1 diff)
• stat/libEF.h (modified) (1 diff)

bdm/estim/libKF.cpp

@@ -62 +62 @@
 
  /////////////////////////////// EKFS
-EKFfull::EKFfull ( RV rvx0, RV rvy0, RV rvu0 ) : BM ( rvx0 ) {};
+EKFfull::EKFfull ( RV rvx0, RV rvy0, RV rvu0 ) : BM ( rvx0 ),E(rvx0) {};
 
 void EKFfull::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const mat Q0,const mat R0 ) {
@@ -105 +105 @@
         mu += _K* ( y-yp );
 
+        E.set_mu(mu);
+
         if ( BM::evalll ) {
                 //from enorm

bdm/estim/libKF.h

@@ -173 +173 @@
 */
 class EKFfull : public KalmanFull, public BM {
+
         //! Internal Model f(x,u)
         diffbifn* pfxu;
         //! Observation Model h(x,u)
         diffbifn* phxu;
+        
+        enorm<fsqmat> E; 
 public:
         //! Default constructor
@@ -187 +190 @@
         void set_est (vec mu0, mat P0){mu=mu0;P=P0;};
         //!dummy!
-        epdf& _epdf(){enorm<fsqmat> E(rv); return E;};
+        epdf& _epdf(){return E;};
 };
 

bdm/estim/libPF.h

@@ -171 +171 @@
         }
 
-        _w /=sum ( _w ); //?
-
+        if (sum(_w)>0.0){
+                _w /=sum ( _w ); //?
+                }
+else
+{
+cout<<"sum(w)==0"<<endl;
+}
 
 
         double eff = 1.0/ ( _w*_w );
-        if ( eff < ( 0.1*n ) ) {
+        if ( eff < ( 0.3*n ) ) {
                 ind = est.resample();
                 // Resample Bms!

bdm/stat/libEF.h

@@ -101 +101 @@
         //! returns a pointer to the internal mean value. Use with Care!
         vec* _mu() {return μ}
+        
+        //! access function
+        void set_mu(const vec mu0) { mu=mu0;}
 
         //! returns pointers to the internal variance and its inverse. Use with Care!