Changeset 67 for bdm/estim/libKF.cpp

Timestamp:

04/09/08 15:40:33 (16 years ago)

Author:

smidl

Message:

opavy

Files:

• bdm/estim/libKF.cpp (modified) (2 diffs)

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