Changeset 744 for library/bdm/estim/kalman.cpp

Timestamp:

11/28/09 14:38:48 (15 years ago)

Author:

smidl

Message:

Working unitsteps and controlloop + corresponding fixes

Files:

• library/bdm/estim/kalman.cpp (modified) (1 diff)

library/bdm/estim/kalman.cpp

@@ -264 +264 @@
         int active_x = y_block_size;
         for ( int r = 0; r < urv.length(); r++ ) {
-                diagonal_part ( this->A, active_x + urv.size ( r ), active_x, u_block_sizes ( r ) - urv.size ( r ) );
-                this->B.set_submatrix ( active_x, 0, eye ( urv.size ( r ) ) );
+                if (u_block_sizes(r)>0){
+                        diagonal_part ( this->A, active_x + urv.size ( r ), active_x, u_block_sizes ( r ) - urv.size ( r ) );
+                        this->B.set_submatrix ( active_x, 0, eye ( urv.size ( r ) ) );
+                }
                 active_x += u_block_sizes ( r );
         }