Changeset 67 for bdm/estim/libKF.h

Timestamp:

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

Author:

smidl

Message:

opavy

Files:

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

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;};
 };