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04/18/08 14:03:19 (17 years ago)
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smidl
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oprava dokumentace

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  • doc/latex/classEKF__unQ.tex

    r33 r79  
    88\begin{center} 
    99\leavevmode 
    10 \includegraphics[width=101pt]{classEKF__unQ__inherit__graph} 
     10\includegraphics[width=102pt]{classEKF__unQ__inherit__graph} 
    1111\end{center} 
    1212\end{figure} 
    … …  
    2727 
    2828\begin{CompactList}\small\item\em Substitute {\tt val} for {\tt rvc}. \item\end{CompactList}\item  
    29 void {\bf set\_\-parameters} ({\bf diffbifn} $\ast$pfxu, {\bf diffbifn} $\ast$phxu, const ldmatQ0, const ldmatR0)\label{classEKF_28d058ae4d24d992d2f055419a06ee66} 
     29{\bf EKF\_\-unQ} ({\bf RV} rx, {\bf RV} ry, {\bf RV} ru, {\bf RV} rQ)\label{classEKF__unQ_159eaaa5a05c5ceecdaa20956a307244} 
     30 
     31\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item  
     32void {\bf condition} (const vec \&Q0)\label{classEKF__unQ_cd06a8c662da244cf61bb5bd39688c99} 
     33 
     34\begin{CompactList}\small\item\em Substitute {\tt val} for {\tt rvc}. \item\end{CompactList}\item  
     35void \textbf{bayes} (const vec dt)\label{classEKF__unQ_44b49058c8eb27c7910ae31a1dfd3d21} 
     36 
     37\item  
     38{\bf EKF\_\-unQ} ({\bf RV} rx, {\bf RV} ry, {\bf RV} ru, {\bf RV} rQ)\label{classEKF__unQ_159eaaa5a05c5ceecdaa20956a307244} 
     39 
     40\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item  
     41void {\bf condition} (const vec \&Q0)\label{classEKF__unQ_cd06a8c662da244cf61bb5bd39688c99} 
     42 
     43\begin{CompactList}\small\item\em Substitute {\tt val} for {\tt rvc}. \item\end{CompactList}\item  
     44void {\bf set\_\-parameters} ({\bf diffbifn} $\ast$pfxu, {\bf diffbifn} $\ast$phxu, const {\bf chmat} Q0, const {\bf chmat} R0)\label{classEKFCh_0216bed270df59fe65d0d62d41f8257c} 
    3045 
    3146\begin{CompactList}\small\item\em Set nonlinear functions for mean values and covariance matrices. \item\end{CompactList}\item  
    32 void {\bf set\_\-parameters} (const mat \&A0, const mat \&B0, const mat \&C0, const mat \&D0, const {\bf ldmat} \&R0, const {\bf ldmat} \&Q0)\label{classKalman_239b28a0380946f5749b2f8d2807f93a} 
     47void {\bf set\_\-parameters} (const mat \&A0, const mat \&B0, const mat \&C0, const mat \&D0, const {\bf chmat} \&R0, const {\bf chmat} \&Q0)\label{classKalmanCh_92fb227287af05c9f0078d523c7c9793} 
    3348 
    3449\begin{CompactList}\small\item\em Set parameters with check of relevance. \item\end{CompactList}\item  
    35 void {\bf bayes} (const vec \&dt)\label{classEKF_c79c62c9b3e0b56b3aaa1b6f1d9a7af7} 
     50void {\bf bayes} (const vec \&dt)\label{classEKFCh_96f6edda324a0b7ef8b4e86cc7af60c1} 
    3651 
    3752\begin{CompactList}\small\item\em Here dt = [yt;ut] of appropriate dimensions. \item\end{CompactList}\item  
    … …  
    3954 
    4055\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item  
    41 void {\bf set\_\-est} (const vec \&mu0, const {\bf ldmat} \&P0)\label{classKalman_80bcf29466d9a9dd2b8f74699807d0c0} 
     56void {\bf set\_\-est} (const vec \&mu0, const {\bf chmat} \&P0)\label{classKalmanCh_b261b20f6210d4c85131d33302df0adc} 
    4257 
    4358\begin{CompactList}\small\item\em Set estimate values, used e.g. in initialization. \item\end{CompactList}\item  
    4459{\bf epdf} \& {\bf \_\-epdf} ()\label{classKalman_a213c57aef55b2645e550bed81cfc0d4} 
     60 
     61\begin{CompactList}\small\item\em access function \item\end{CompactList}\item  
     62mat \& {\bf \_\-\_\-K} ()\label{classKalman_980fcd41c6c548c5da7b8b67c8e6da79} 
     63 
     64\begin{CompactList}\small\item\em access function \item\end{CompactList}\item  
     65vec {\bf \_\-dP} ()\label{classKalman_ac9540f3850b74d89a5fe4db6fc358ce} 
    4566 
    4667\begin{CompactList}\small\item\em access function \item\end{CompactList}\item  
    … …  
    5374const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a} 
    5475 
     76\begin{CompactList}\small\item\em access function \item\end{CompactList}\item  
     77const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a} 
     78 
    5579\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize} 
    5680\subsection*{Protected Attributes} 
    5781\begin{CompactItemize} 
    5882\item  
     83mat {\bf preA}\label{classKalmanCh_94ee9da75b0e0f632e4a354988ca3798} 
     84 
     85\begin{CompactList}\small\item\em pre array (triangular matrix) \item\end{CompactList}\item  
     86mat {\bf postA}\label{classKalmanCh_0d31a26dc72b5846cfe5af3ccb63ac87} 
     87 
     88\begin{CompactList}\small\item\em post array (triangular matrix) \item\end{CompactList}\item  
    5989{\bf RV} {\bf rvy}\label{classKalman_7501230c2fafa3655887d2da23b3184c} 
    6090 
    … …  
    84114 
    85115\begin{CompactList}\small\item\em Matrix D. \item\end{CompactList}\item  
    86 {\bf ldmat} {\bf Q}\label{classKalman_9b69015c800eb93f3ee49da23a6f55d9} 
     116{\bf chmat} {\bf Q}\label{classKalman_9b69015c800eb93f3ee49da23a6f55d9} 
    87117 
    88118\begin{CompactList}\small\item\em Matrix Q in square-root form. \item\end{CompactList}\item  
    89 {\bf ldmat} {\bf R}\label{classKalman_11d171dc0e0ab111c56a70f98b97b3ec} 
     119{\bf chmat} {\bf R}\label{classKalman_11d171dc0e0ab111c56a70f98b97b3ec} 
    90120 
    91121\begin{CompactList}\small\item\em Matrix R in square-root form. \item\end{CompactList}\item  
    92 {\bf enorm}$<$ {\bf ldmat} $>$ {\bf est}\label{classKalman_5568c74bac67ae6d3b1061dba60c9424} 
     122{\bf enorm}$<$ {\bf chmat} $>$ {\bf est}\label{classKalman_5568c74bac67ae6d3b1061dba60c9424} 
    93123 
    94124\begin{CompactList}\small\item\em posterior density on \$x\_\-t\$ \item\end{CompactList}\item  
    95 {\bf enorm}$<$ {\bf ldmat} $>$ {\bf fy}\label{classKalman_e580ab06483952bd03f2e651763e184f} 
     125{\bf enorm}$<$ {\bf chmat} $>$ {\bf fy}\label{classKalman_e580ab06483952bd03f2e651763e184f} 
    96126 
    97127\begin{CompactList}\small\item\em preditive density on \$y\_\-t\$ \item\end{CompactList}\item  
    … …  
    99129 
    100130\begin{CompactList}\small\item\em placeholder for \doxyref{Kalman}{p.}{classKalman} gain \item\end{CompactList}\item  
    101 vec $\ast$ {\bf \_\-yp}\label{classKalman_5188eb0329f8561f0b357af329769bf8} 
     131vec \& {\bf \_\-yp}\label{classKalman_764bbc95238eda11fc81c5ebd0b1dcfd} 
    102132 
    103133\begin{CompactList}\small\item\em cache of fy.mu \item\end{CompactList}\item  
    104 {\bf ldmat} $\ast$ {\bf \_\-Ry}\label{classKalman_e17dd745daa8a958035a334a56fa4674} 
     134{\bf chmat} \& {\bf \_\-Ry}\label{classKalman_45c9f928d2d62e0c884900fb3380f904} 
    105135 
    106136\begin{CompactList}\small\item\em cache of fy.R \item\end{CompactList}\item  
    107 {\bf ldmat} $\ast$ {\bf \_\-iRy}\label{classKalman_8a35bd14afa5a2d9bbd23ad333bec874} 
    108  
    109 \begin{CompactList}\small\item\em cache of fy.iR \item\end{CompactList}\item  
    110 vec $\ast$ {\bf \_\-mu}\label{classKalman_d1f669b5b3421a070cc75d77b55ba734} 
     137vec \& {\bf \_\-mu}\label{classKalman_fe803a81d2d847b0b1db3c6b29c18061} 
    111138 
    112139\begin{CompactList}\small\item\em cache of est.mu \item\end{CompactList}\item  
    113 {\bf ldmat} $\ast$ {\bf \_\-P}\label{classKalman_b3388218567128a797e69b109138271d} 
     140{\bf chmat} \& {\bf \_\-P}\label{classKalman_9fb808cc94a4c2652e1fb93be9bb7dcf} 
    114141 
    115142\begin{CompactList}\small\item\em cache of est.R \item\end{CompactList}\item  
    116 {\bf ldmat} $\ast$ {\bf \_\-iP}\label{classKalman_13fec2c93d8a132201e28b70270acf5c} 
    117  
    118 \begin{CompactList}\small\item\em cache of est.iR \item\end{CompactList}\item  
    119143{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88} 
    120144 
    … …  
    134158Extended \doxyref{Kalman}{p.}{classKalman} filter with unknown {\tt Q}.  
    135159 
    136 The documentation for this class was generated from the following file:\begin{CompactItemize} 
     160The documentation for this class was generated from the following files:\begin{CompactItemize} 
    137161\item  
    138 work/mixpp/tests/pmsm\_\-unkQpf.cpp\end{CompactItemize} 
     162work/mixpp/pmsm/pmsm\_\-sim.cpp\item  
     163work/mixpp/pmsm/pmsm\_\-sim2.cpp\item  
     164work/mixpp/pmsm/pmsm\_\-unkQpf.cpp\end{CompactItemize}