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-<h1>diffbifn Class Reference</h1><!-- doxytag: class="diffbifn" --><!-- doxytag: inherits="fnc" -->Class representing a differentiable function of two variables $f(x,u)$.  
+<!-- Generated by Doxygen 1.5.5 -->
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+<h1>diffbifn Class Reference</h1><!-- doxytag: class="diffbifn" --><!-- doxytag: inherits="fnc" -->Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">.  
 <a href="#_details">More...</a>
 <p>
@@ -31,5 +34,5 @@
 <p><center><img src="classdiffbifn__inherit__graph.png" border="0" usemap="#diffbifn__inherit__map" alt="Inheritance graph"></center>
 <map name="diffbifn__inherit__map">
-<area shape="rect" href="classbilinfn.html" title="Class representing function $f(x,u) = Ax+Bu$." alt="" coords="5,161,64,188"><area shape="rect" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$." alt="" coords="88,161,165,188"><area shape="rect" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$." alt="" coords="189,161,275,188"><area shape="rect" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv." alt="" coords="107,7,147,33"></map>
+<area shape="rect" href="classbilinfn.html" title="Class representing function ." alt="" coords="5,156,61,180"><area shape="rect" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$." alt="" coords="85,156,157,180"><area shape="rect" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$." alt="" coords="181,156,259,180"><area shape="rect" href="classfnc.html" title="Class representing function  of variable  represented by rv." alt="" coords="101,6,141,30"></map>
 <center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
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@@ -38,5 +41,5 @@
 <p><center><img src="classdiffbifn__coll__graph.png" border="0" usemap="#diffbifn__coll__map" alt="Collaboration graph"></center>
 <map name="diffbifn__coll__map">
-<area shape="rect" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv." alt="" coords="5,7,45,33"><area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="69,7,107,33"><area shape="rect" title="rvu\nrvx" alt="" coords="80,31,88,39"><area shape="rect" title="rvu\nrvx" alt="" coords="56,115,64,123"></map>
+<area shape="rect" href="classfnc.html" title="Class representing function  of variable  represented by rv." alt="" coords="5,6,45,30"><area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="69,6,107,30"></map>
 <center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
 
@@ -48,9 +51,9 @@
 vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632">eval</a> (const vec &amp;cond)</td></tr>
 
-<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). <br></td></tr>
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png"> (VS: Do we really need common eval? ). <br></td></tr>
 <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="40d8a7eee45acc55cda33d43282faa03"></a><!-- doxytag: member="diffbifn::eval" ref="40d8a7eee45acc55cda33d43282faa03" args="(const vec &amp;x0, const vec &amp;u0)" -->
 virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#40d8a7eee45acc55cda33d43282faa03">eval</a> (const vec &amp;x0, const vec &amp;u0)</td></tr>
 
-<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates $f(x0,u0)$. <br></td></tr>
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png">. <br></td></tr>
 <tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</a> (const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</td></tr>
 
@@ -98,8 +101,8 @@
 </table>
 <hr><a name="_details"></a><h2>Detailed Description</h2>
-Class representing a differentiable function of two variables $f(x,u)$. 
+Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">. 
 <p>
 Function of two variables.<p>
-TODO: 1) Technically, it could have a common parent (e.g. <code><a class="el" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a></code> ) with other functions. For now, we keep it as it is. 2) It could be generalized into multivariate form, (which was original meaning of <code><a class="el" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a></code> ). <hr><h2>Member Function Documentation</h2>
+TODO: 1) Technically, it could have a common parent (e.g. <code><a class="el" href="classfnc.html" title="Class representing function  of variable  represented by rv.">fnc</a></code> ) with other functions. For now, we keep it as it is. 2) It could be generalized into multivariate form, (which was original meaning of <code><a class="el" href="classfnc.html" title="Class representing function  of variable  represented by rv.">fnc</a></code> ). <hr><h2>Member Function Documentation</h2>
 <a class="anchor" name="6d217a02d4fa13931258d4bebdd0feb4"></a><!-- doxytag: member="diffbifn::dfdx_cond" ref="6d217a02d4fa13931258d4bebdd0feb4" args="(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)" -->
 <div class="memitem">
@@ -145,6 +148,6 @@
   <table border="0" cellspacing="2" cellpadding="0">
     <tr><td valign="top"></td><td valign="top"><em>full</em>&nbsp;</td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr>
-    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of $x$, </td></tr>
-    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of $u$ </td></tr>
+    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr>
+    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr>
     <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
   </table>
@@ -152,4 +155,6 @@
 
 <p>Reimplemented in <a class="el" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5">bilinfn</a>, <a class="el" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">IMpmsm</a>, and <a class="el" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">OMpmsm</a>.</p>
+
+<p>Referenced by <a class="el" href="libKF_8h-source.html#l00364">EKF&lt; sq_T &gt;::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00189">EKFCh::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00086">EKFfull::bayes()</a>, <a class="el" href="libKF_8h-source.html#l00347">EKF&lt; sq_T &gt;::set_parameters()</a>, <a class="el" href="libKF_8cpp-source.html#l00167">EKFCh::set_parameters()</a>, and <a class="el" href="libKF_8cpp-source.html#l00066">EKFfull::set_parameters()</a>.</p>
 
 </div>
@@ -198,6 +203,6 @@
   <table border="0" cellspacing="2" cellpadding="0">
     <tr><td valign="top"></td><td valign="top"><em>full</em>&nbsp;</td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr>
-    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of $x$, </td></tr>
-    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of $u$ </td></tr>
+    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr>
+    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr>
     <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
   </table>
@@ -210,7 +215,8 @@
 <hr>The documentation for this class was generated from the following file:<ul>
 <li>work/mixpp/bdm/stat/<a class="el" href="libFN_8h-source.html">libFN.h</a></ul>
-<hr size="1"><address style="text-align: right;"><small>Generated on Fri Apr 18 11:15:18 2008 for mixpp by&nbsp;
+</div>
+<hr size="1"><address style="text-align: right;"><small>Generated on Tue Apr 29 20:46:39 2008 for mixpp by&nbsp;
 <a href="http://www.doxygen.org/index.html">
-<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
+<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.5 </small></address>
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