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Index: doc/latex/sim__var_8cpp.tex
===================================================================
--- doc/latex/sim__var_8cpp.tex (revision 99)
+++ doc/latex/sim__var_8cpp.tex (revision 99)
@@ -0,0 +1,39 @@
+\section{work/mixpp/pmsm/sim\_\-var.cpp File Reference}
+\label{sim__var_8cpp}\index{work/mixpp/pmsm/sim\_\-var.cpp@{work/mixpp/pmsm/sim\_\-var.cpp}}
+Models for synchronous electric drive using IT++ and BDM. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include $<$stat/libFN.h$>$}\par
+{\tt \#include $<$estim/libKF.h$>$}\par
+{\tt \#include $<$estim/libPF.h$>$}\par
+{\tt \#include \char`\"{}pmsm.h\char`\"{}}\par
+{\tt \#include \char`\"{}simulator.h\char`\"{}}\par
+{\tt \#include $<$stat/loggers.h$>$}\par
+
+
+Include dependency graph for sim\_\-var.cpp:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=385pt]{sim__var_8cpp__incl}
+\end{center}
+\end{figure}
+\subsection*{Functions}
+\begin{CompactItemize}
+\item 
+void {\bf set\_\-simulator\_\-t} (double \&Ww)\label{sim__var_8cpp_e447b6cc84b8f808272762ff23bc5eaa}
+
+\begin{CompactList}\small\item\em Extended \doxyref{Kalman}{p.}{classKalman} filter with unknown {\tt Q}. \item\end{CompactList}\item 
+int \textbf{main} ()\label{sim__var_8cpp_e66f6b31b5ad750f1fe042a706a4e3d4}
+
+\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Models for synchronous electric drive using IT++ and BDM. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
Index: doc/latex/classEKFCh__inherit__graph.eps
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Index: doc/latex/classuiscalar__coll__graph.md5
===================================================================
--- doc/latex/classuiscalar__coll__graph.md5 (revision 99)
+++ doc/latex/classuiscalar__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+4da19ecbf8f79b7ef64aa7a0b2403e79
Index: doc/latex/classuistring__coll__graph.md5
===================================================================
--- doc/latex/classuistring__coll__graph.md5 (revision 99)
+++ doc/latex/classuistring__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+1df66df53232d538106af0dd3628c588
Index: doc/latex/classdirfilelog__coll__graph.md5
===================================================================
--- doc/latex/classdirfilelog__coll__graph.md5 (revision 99)
+++ doc/latex/classdirfilelog__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+4ef6492d622e67b734f9371148c81df2
Index: doc/latex/classEKFCh__coll__graph.md5
===================================================================
--- doc/latex/classEKFCh__coll__graph.md5 (revision 99)
+++ doc/latex/classEKFCh__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+e8d0cb713281a03ddf5475c311660e5d
Index: doc/latex/classeuni.tex
===================================================================
--- doc/latex/classeuni.tex (revision 91)
+++ doc/latex/classeuni.tex (revision 99)
@@ -77,5 +77,5 @@
 Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
 
-Returns a sample from the density, $x \sim epdf(rv)$ 
+Returns a sample, $x$ from density $epdf(rv)$ 
 
 Implements {\bf epdf} \doxyref{}{p.}{classepdf_8019654e494bf5e458f6fb947e11b262}.
Index: doc/latex/doxygen.sty
===================================================================
--- doc/latex/doxygen.sty (revision 91)
+++ doc/latex/doxygen.sty (revision 99)
@@ -11,6 +11,6 @@
 \rhead[\fancyplain{}{\bfseries\leftmark}]
         {\fancyplain{}{\bfseries\thepage}}
-\rfoot[\fancyplain{}{\bfseries\scriptsize Generated on Tue Apr 29 20:46:23 2008 for mixpp by Doxygen }]{}
-\lfoot[]{\fancyplain{}{\bfseries\scriptsize Generated on Tue Apr 29 20:46:23 2008 for mixpp by Doxygen }}
+\rfoot[\fancyplain{}{\bfseries\scriptsize Generated on Fri May 9 16:15:20 2008 for mixpp by Doxygen }]{}
+\lfoot[]{\fancyplain{}{\bfseries\scriptsize Generated on Fri May 9 16:15:20 2008 for mixpp by Doxygen }}
 \cfoot{}
 \newenvironment{Code}
Index: doc/latex/classenorm.tex
===================================================================
--- doc/latex/classenorm.tex (revision 91)
+++ doc/latex/classenorm.tex (revision 99)
@@ -46,4 +46,7 @@
 
 \begin{CompactList}\small\item\em Compute log-probability of argument {\tt val}. \item\end{CompactList}\item 
+double {\bf lognc} () const \label{classenorm_b289a36a69db59d182bb6eba9c05d4a8}
+
+\begin{CompactList}\small\item\em logarithm of the normalizing constant, $\mathcal{I}$ \item\end{CompactList}\item 
 vec {\bf mean} () const \label{classenorm_50fa84da7bae02f7af17a98f37566899}
 
@@ -96,5 +99,5 @@
 Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
 
-Returns a sample from the density, $x \sim epdf(rv)$ 
+Returns a sample, $x$ from density $epdf(rv)$ 
 
 Implements {\bf epdf} \doxyref{}{p.}{classepdf_8019654e494bf5e458f6fb947e11b262}.
Index: doc/latex/classmgamma__fix__coll__graph.md5
===================================================================
--- doc/latex/classmgamma__fix__coll__graph.md5 (revision 99)
+++ doc/latex/classmgamma__fix__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+27ec4a13013e8dcb14b16f22883bcc2c
Index: doc/latex/annotated.tex
===================================================================
--- doc/latex/annotated.tex (revision 91)
+++ doc/latex/annotated.tex (revision 99)
@@ -1,5 +1,5 @@
 \section{Class List}
 Here are the classes, structs, unions and interfaces with brief descriptions:\begin{CompactList}
-\item\contentsline{section}{{\bf ARX} (Ligear-Gaussian autoregressive model )}{\pageref{classARX}}{}
+\item\contentsline{section}{{\bf ARX} (Linear Autoregressive model with Gaussian noise )}{\pageref{classARX}}{}
 \item\contentsline{section}{{\bf bilinfn} (Class representing function $f(x,u) = Ax+Bu$ )}{\pageref{classbilinfn}}{}
 \item\contentsline{section}{{\bf BM} (Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities )}{\pageref{classBM}}{}
@@ -13,4 +13,5 @@
 \item\contentsline{section}{{\bf eEmp} (Weighted empirical density )}{\pageref{classeEmp}}{}
 \item\contentsline{section}{{\bf egamma} (Gamma posterior density )}{\pageref{classegamma}}{}
+\item\contentsline{section}{{\bf egiw} (Gauss-inverse-Wishart density stored in LD form )}{\pageref{classegiw}}{}
 \item\contentsline{section}{{\bf EKF$<$ sq\_\-T $>$} (Extended \doxyref{Kalman}{p.}{classKalman} Filter )}{\pageref{classEKF}}{}
 \item\contentsline{section}{{\bf EKF\_\-unQ} (Extended \doxyref{Kalman}{p.}{classKalman} filter with unknown {\tt Q} )}{\pageref{classEKF__unQ}}{}
@@ -46,5 +47,4 @@
 \item\contentsline{section}{{\bf sqmat} (Virtual class for representation of double symmetric matrices in square-root form )}{\pageref{classsqmat}}{}
 \item\contentsline{section}{{\bf uibase} (User Info base class )}{\pageref{classuibase}}{}
-\item\contentsline{section}{{\bf uicompound} (Compound user info )}{\pageref{classuicompound}}{}
 \item\contentsline{section}{{\bf uimatrix$<$ T $>$} (User info for matrices )}{\pageref{classuimatrix}}{}
 \item\contentsline{section}{{\bf uiscalar$<$ T $>$} (User info for scalars )}{\pageref{classuiscalar}}{}
Index: doc/latex/classchmat.tex
===================================================================
--- doc/latex/classchmat.tex (revision 91)
+++ doc/latex/classchmat.tex (revision 99)
@@ -52,7 +52,7 @@
 
 \begin{CompactList}\small\item\em Clearing matrix so that it corresponds to zeros. \item\end{CompactList}\item 
-void \textbf{add} (const {\bf chmat} \&A2, double w=1.0)\label{classchmat_f3921e3e5e31337cdbda40a3a5467257}
+void {\bf add} (const {\bf chmat} \&A2, double w=1.0)\label{classchmat_f3921e3e5e31337cdbda40a3a5467257}
 
-\item 
+\begin{CompactList}\small\item\em add another \doxyref{chmat}{p.}{classchmat} {\tt A2} with weight {\tt w}. \item\end{CompactList}\item 
 void {\bf inv} ({\bf chmat} \&Inv) const \label{classchmat_5ce4e21a9012a4e98c1f0ed1ca5669bd}
 
Index: doc/latex/chmat_8h__incl.md5
===================================================================
--- doc/latex/chmat_8h__incl.md5 (revision 91)
+++ doc/latex/chmat_8h__incl.md5 (revision 99)
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Index: doc/latex/ekf__obj_8h__incl.md5
===================================================================
--- doc/latex/ekf__obj_8h__incl.md5 (revision 99)
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Index: doc/latex/classEKFCh__inherit__graph.md5
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Index: doc/latex/classEKFCh.tex
===================================================================
--- doc/latex/classEKFCh.tex (revision 99)
+++ doc/latex/classEKFCh.tex (revision 99)
@@ -0,0 +1,140 @@
+\section{EKFCh Class Reference}
+\label{classEKFCh}\index{EKFCh@{EKFCh}}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in Square root.  
+
+
+{\tt \#include $<$libKF.h$>$}
+
+Inheritance diagram for EKFCh:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=95pt]{classEKFCh__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for EKFCh:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=400pt]{classEKFCh__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf EKFCh} ({\bf RV} rvx, {\bf RV} {\bf rvy}, {\bf RV} {\bf rvu})\label{classEKFCh_e9e39a9204db3dda88d06e47c1e19064}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf set\_\-parameters} ({\bf diffbifn} $\ast$pfxu, {\bf diffbifn} $\ast$phxu, const {\bf chmat} Q0, const {\bf chmat} R0)\label{classEKFCh_0216bed270df59fe65d0d62d41f8257c}
+
+\begin{CompactList}\small\item\em Set nonlinear functions for mean values and covariance matrices. \item\end{CompactList}\item 
+void {\bf bayes} (const vec \&dt)\label{classEKFCh_96f6edda324a0b7ef8b4e86cc7af60c1}
+
+\begin{CompactList}\small\item\em Here dt = [yt;ut] of appropriate dimensions. \item\end{CompactList}\item 
+void {\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}
+
+\begin{CompactList}\small\item\em Set parameters with check of relevance. \item\end{CompactList}\item 
+void {\bf set\_\-est} (const vec \&mu0, const {\bf chmat} \&P0)\label{classKalmanCh_b261b20f6210d4c85131d33302df0adc}
+
+\begin{CompactList}\small\item\em Set estimate values, used e.g. in initialization. \item\end{CompactList}\item 
+void {\bf bayes} (mat Dt)\label{classBM_87b07867fd4c133aa89a18543f68d9f9}
+
+\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item 
+{\bf epdf} \& {\bf \_\-epdf} ()\label{classKalman_a213c57aef55b2645e550bed81cfc0d4}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+mat \& {\bf \_\-\_\-K} ()\label{classKalman_980fcd41c6c548c5da7b8b67c8e6da79}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+vec {\bf \_\-dP} ()\label{classKalman_ac9540f3850b74d89a5fe4db6fc358ce}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+const {\bf RV} \& {\bf \_\-rv} () const \label{classBM_126bd2595c48e311fc2a7ab72876092a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+mat {\bf preA}\label{classKalmanCh_94ee9da75b0e0f632e4a354988ca3798}
+
+\begin{CompactList}\small\item\em pre array (triangular matrix) \item\end{CompactList}\item 
+mat {\bf postA}\label{classKalmanCh_0d31a26dc72b5846cfe5af3ccb63ac87}
+
+\begin{CompactList}\small\item\em post array (triangular matrix) \item\end{CompactList}\item 
+{\bf RV} {\bf rvy}\label{classKalman_7501230c2fafa3655887d2da23b3184c}
+
+\begin{CompactList}\small\item\em Indetifier of output rv. \item\end{CompactList}\item 
+{\bf RV} {\bf rvu}\label{classKalman_44a16ffd5ac1e6e39bae34fea9e1e498}
+
+\begin{CompactList}\small\item\em Indetifier of exogeneous rv. \item\end{CompactList}\item 
+int {\bf dimx}\label{classKalman_39c8c403b46fa3b8c7da77cb2e3729eb}
+
+\begin{CompactList}\small\item\em cache of rv.count() \item\end{CompactList}\item 
+int {\bf dimy}\label{classKalman_ba17b956df1e38b31fbbc299c8213b6a}
+
+\begin{CompactList}\small\item\em cache of rvy.count() \item\end{CompactList}\item 
+int {\bf dimu}\label{classKalman_b0153795a1444b6968a86409c778d9ce}
+
+\begin{CompactList}\small\item\em cache of rvu.count() \item\end{CompactList}\item 
+mat {\bf A}\label{classKalman_5e02efe86ee91e9c74b93b425fe060b9}
+
+\begin{CompactList}\small\item\em Matrix A. \item\end{CompactList}\item 
+mat {\bf B}\label{classKalman_dc87704284a6c0bca13bf51f4345a50a}
+
+\begin{CompactList}\small\item\em Matrix B. \item\end{CompactList}\item 
+mat {\bf C}\label{classKalman_86a805cd6515872d1132ad0d6eb5dc13}
+
+\begin{CompactList}\small\item\em Matrix C. \item\end{CompactList}\item 
+mat {\bf D}\label{classKalman_d69f774ba3335c970c1c5b1d182f4dd1}
+
+\begin{CompactList}\small\item\em Matrix D. \item\end{CompactList}\item 
+{\bf chmat} {\bf Q}\label{classKalman_9b69015c800eb93f3ee49da23a6f55d9}
+
+\begin{CompactList}\small\item\em Matrix Q in square-root form. \item\end{CompactList}\item 
+{\bf chmat} {\bf R}\label{classKalman_11d171dc0e0ab111c56a70f98b97b3ec}
+
+\begin{CompactList}\small\item\em Matrix R in square-root form. \item\end{CompactList}\item 
+{\bf enorm}$<$ {\bf chmat} $>$ {\bf est}\label{classKalman_5568c74bac67ae6d3b1061dba60c9424}
+
+\begin{CompactList}\small\item\em posterior density on \$x\_\-t\$ \item\end{CompactList}\item 
+{\bf enorm}$<$ {\bf chmat} $>$ {\bf fy}\label{classKalman_e580ab06483952bd03f2e651763e184f}
+
+\begin{CompactList}\small\item\em preditive density on \$y\_\-t\$ \item\end{CompactList}\item 
+mat {\bf \_\-K}\label{classKalman_d422f51467c7a06174af2476d2826132}
+
+\begin{CompactList}\small\item\em placeholder for \doxyref{Kalman}{p.}{classKalman} gain \item\end{CompactList}\item 
+vec \& {\bf \_\-yp}\label{classKalman_764bbc95238eda11fc81c5ebd0b1dcfd}
+
+\begin{CompactList}\small\item\em cache of fy.mu \item\end{CompactList}\item 
+{\bf chmat} \& {\bf \_\-Ry}\label{classKalman_45c9f928d2d62e0c884900fb3380f904}
+
+\begin{CompactList}\small\item\em cache of fy.R \item\end{CompactList}\item 
+vec \& {\bf \_\-mu}\label{classKalman_fe803a81d2d847b0b1db3c6b29c18061}
+
+\begin{CompactList}\small\item\em cache of est.mu \item\end{CompactList}\item 
+{\bf chmat} \& {\bf \_\-P}\label{classKalman_9fb808cc94a4c2652e1fb93be9bb7dcf}
+
+\begin{CompactList}\small\item\em cache of est.R \item\end{CompactList}\item 
+{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88}
+
+\begin{CompactList}\small\item\em Random variable of the posterior. \item\end{CompactList}\item 
+double {\bf ll}\label{classBM_5623fef6572a08c2b53b8c87b82dc979}
+
+\begin{CompactList}\small\item\em Logarithm of marginalized data likelihood. \item\end{CompactList}\item 
+bool {\bf evalll}\label{classBM_bf6fb59b30141074f8ee1e2f43d03129}
+
+\begin{CompactList}\small\item\em If true, the filter will compute likelihood of the data record and store it in {\tt ll} . Set to false if you want to save time. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in Square root. 
+
+An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. 
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/estim/{\bf libKF.h}\item 
+work/mixpp/bdm/estim/libKF.cpp\end{CompactItemize}
Index: doc/latex/classdirfilelog.tex
===================================================================
--- doc/latex/classdirfilelog.tex (revision 99)
+++ doc/latex/classdirfilelog.tex (revision 99)
@@ -0,0 +1,111 @@
+\section{dirfilelog Class Reference}
+\label{classdirfilelog}\index{dirfilelog@{dirfilelog}}
+Logging into dirfile with buffer in memory.  
+
+
+{\tt \#include $<$loggers.h$>$}
+
+Inheritance diagram for dirfilelog:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=48pt]{classdirfilelog__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for dirfilelog:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=79pt]{classdirfilelog__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf dirfilelog} (std::string dirname0, int maxlen0)
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf init} ()\label{classdirfilelog_afeaebe003110f9db1ac43edf8e53a92}
+
+\begin{CompactList}\small\item\em Initialize storage. \item\end{CompactList}\item 
+void {\bf step} (bool final=false)\label{classdirfilelog_887f2bb97e8c92ca42eea1fbac34eb51}
+
+\begin{CompactList}\small\item\em consider this record to be complete \item\end{CompactList}\item 
+void {\bf write\_\-buffers} (int Len)
+\begin{CompactList}\small\item\em Write memory storage to disk. \item\end{CompactList}\item 
+void {\bf logit} (int id, vec v)\label{classmemlog_8d2feeb826f7249e9104d616b5a67144}
+
+\begin{CompactList}\small\item\em log this vector \item\end{CompactList}\item 
+virtual int {\bf add} ({\bf RV} rv, string name=\char`\"{}\char`\"{})\label{classlogger_3d6c6ab580b36619c4010e3ebec55378}
+
+\begin{CompactList}\small\item\em returns an identifier which will be later needed for calling the log() function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+string {\bf dirname}\label{classdirfilelog_cba5ff1f74ed22910ed7d63aadf21771}
+
+\begin{CompactList}\small\item\em name of the directory \item\end{CompactList}\item 
+Array$<$ string $>$ {\bf scalarnames}\label{classdirfilelog_854b7e7cc4cb40542b4a3ea06d915772}
+
+\begin{CompactList}\small\item\em Automatically generated. \item\end{CompactList}\item 
+int {\bf maxlen}\label{classmemlog_4195f322897ededdac66c404b848ced3}
+
+\begin{CompactList}\small\item\em Maximum length of vectors stored in memory. \item\end{CompactList}\item 
+int {\bf ind}\label{classmemlog_3410b4c002636508c43ddcba8d394520}
+
+\begin{CompactList}\small\item\em Currect record to be written. \item\end{CompactList}\item 
+Array$<$ mat $>$ {\bf vectors}\label{classmemlog_f0f5bc7b83539ad102e8f65297852d91}
+
+\begin{CompactList}\small\item\em Storage. \item\end{CompactList}\item 
+Array$<$ {\bf RV} $>$ {\bf entries}\label{classlogger_83eea0cf4fbca59474d015f751f128a7}
+
+\begin{CompactList}\small\item\em RVs of all logged variables. \item\end{CompactList}\item 
+Array$<$ string $>$ {\bf names}\label{classlogger_39cb79e839ca8f8bb9dcbc8c5b9c7786}
+
+\begin{CompactList}\small\item\em Names of logged quantities, e.g. names of algorithm variants. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Logging into dirfile with buffer in memory. 
+
+Dirfile is a special format used by the kst program. See documentation of kst for description.
+
+This format is used to store scalars, hence multivariate RVs must be separated. 
+
+\subsection{Constructor \& Destructor Documentation}
+\index{dirfilelog@{dirfilelog}!dirfilelog@{dirfilelog}}
+\index{dirfilelog@{dirfilelog}!dirfilelog@{dirfilelog}}
+\subsubsection{\setlength{\rightskip}{0pt plus 5cm}dirfilelog::dirfilelog (std::string {\em dirname0}, \/  int {\em maxlen0})\hspace{0.3cm}{\tt  [inline]}}\label{classdirfilelog_802eeb6fc4ebf11d97638fd5dc651c68}
+
+
+Default constructor. 
+
+\begin{Desc}
+\item[Parameters:]
+\begin{description}
+\item[{\em dirname0}]name of the directory in which to store the results \item[{\em maxlen0}]length of the memory buffers, when full the buffers will be dumped to HDD and returned to the beginning. \end{description}
+\end{Desc}
+
+
+\subsection{Member Function Documentation}
+\index{dirfilelog@{dirfilelog}!write\_\-buffers@{write\_\-buffers}}
+\index{write\_\-buffers@{write\_\-buffers}!dirfilelog@{dirfilelog}}
+\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void dirfilelog::write\_\-buffers (int {\em Len})}\label{classdirfilelog_bd95cdb46af194245f88a7b4bf4c66c7}
+
+
+Write memory storage to disk. 
+
+\begin{Desc}
+\item[Parameters:]
+\begin{description}
+\item[{\em Len}]length of buffer to be written, if 0 the file is truncated at 0. \end{description}
+\end{Desc}
+
+
+References dirname, logger::entries, memlog::maxlen, scalarnames, and memlog::vectors.
+
+Referenced by init(), and step().
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/stat/{\bf loggers.h}\item 
+work/mixpp/bdm/stat/loggers.cpp\end{CompactItemize}
Index: doc/latex/classKFcondR.tex
===================================================================
--- doc/latex/classKFcondR.tex (revision 91)
+++ doc/latex/classKFcondR.tex (revision 99)
@@ -54,7 +54,4 @@
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
 double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
-
-\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
-const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
Index: doc/latex/classuibase__inherit__graph.md5
===================================================================
--- doc/latex/classuibase__inherit__graph.md5 (revision 99)
+++ doc/latex/classuibase__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+22f273dbdbef5b8677c4cb33eb32fe4d
Index: doc/latex/classepdf__inherit__graph.md5
===================================================================
--- doc/latex/classepdf__inherit__graph.md5 (revision 91)
+++ doc/latex/classepdf__inherit__graph.md5 (revision 99)
@@ -1,1 +1,1 @@
-12cb92e2a72e7f139521efb385476d29
+e449df7697a8f953551e4f18e3480042
Index: doc/latex/classuicompound__inherit__graph.md5
===================================================================
--- doc/latex/classuicompound__inherit__graph.md5 (revision 99)
+++ doc/latex/classuicompound__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+e93f3dd8288552255bf4240307e1c354
Index: doc/latex/classuibase.tex
===================================================================
--- doc/latex/classuibase.tex (revision 99)
+++ doc/latex/classuibase.tex (revision 99)
@@ -0,0 +1,73 @@
+\section{uibase Class Reference}
+\label{classuibase}\index{uibase@{uibase}}
+User Info base class.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uibase:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=400pt]{classuibase__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uibase:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=66pt]{classuibase__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf uibase} (string com=\char`\"{}Abstract class, please ignore!\char`\"{}, uibase $\ast$par=NULL)\label{classuibase_2f0551822ed7af25f8e7ffbe7c0a8f97}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+virtual void {\bf getsummary} (std::string \&S)\label{classuibase_de805f1ce9c1b261dc47d57c506d36f1}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+virtual void {\bf askuser} ()\label{classuibase_d28232d94715c153afb9280a8a4552eb}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\item 
+virtual {\bf $\sim$uibase} ()\label{classuibase_1972e8d075e083e0f033ac2e4fee3a7a}
+
+\begin{CompactList}\small\item\em for future use \item\end{CompactList}\item 
+virtual void {\bf save} (std::ostream \&os)\label{classuibase_6986cef72dc78d8caaddf05481dc9eb2}
+
+\begin{CompactList}\small\item\em Save to file. \item\end{CompactList}\item 
+virtual void {\bf load} (std::istream \&is)\label{classuibase_eb22da8503624c0d52d84817b00acba3}
+
+\begin{CompactList}\small\item\em load from file \item\end{CompactList}\item 
+int {\bf get\_\-level} ()\label{classuibase_e05d51c68e5e690110208ebad4c0a037}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+string {\bf name}\label{classuibase_b093af7c0a2a8b9bc3e71c1dc83779c3}
+
+\begin{CompactList}\small\item\em String identifier of a field. \item\end{CompactList}\item 
+string {\bf help}\label{classuibase_4bf69e2353bf0620e0dd714e0d92473a}
+
+\begin{CompactList}\small\item\em Explanation for a user what the field means. \item\end{CompactList}\item 
+{\bf uibase} $\ast$ {\bf parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\begin{CompactList}\small\item\em Possible parent of the userinfo. \item\end{CompactList}\item 
+int {\bf ilevel}\label{classuibase_d903be35ad6f3932eb5d8df8777e0fa1}
+
+\begin{CompactList}\small\item\em Indentation level, i.e. number of parents. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+User Info base class. 
+
+This class is used to store information about parameters of an object. It support loading and saving of the information and, potentially, interaction with the user. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
Index: doc/latex/libEF_8h__dep__incl.eps
===================================================================
--- doc/latex/libEF_8h__dep__incl.eps (revision 91)
+++ doc/latex/libEF_8h__dep__incl.eps (revision 99)
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Index: doc/latex/classepdf.tex
===================================================================
--- doc/latex/classepdf.tex (revision 91)
+++ doc/latex/classepdf.tex (revision 99)
@@ -65,7 +65,7 @@
 Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
 
-Returns a sample from the density, $x \sim epdf(rv)$ 
+Returns a sample, $x$ from density $epdf(rv)$ 
 
-Implemented in {\bf enorm$<$ sq\_\-T $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf egamma} \doxyref{}{p.}{classegamma_8e10c0021b5dfdd9cb62c6959b5ef425}, {\bf euni} \doxyref{}{p.}{classeuni_4a0e09392be17beaee120ba98fc038cd}, {\bf eEmp} \doxyref{}{p.}{classeEmp_83f9283f92b805508d896479dc1ccf12}, {\bf enorm$<$ ldmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf enorm$<$ chmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, and {\bf enorm$<$ fsqmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}.
+Implemented in {\bf enorm$<$ sq\_\-T $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf egiw} \doxyref{}{p.}{classegiw_3d2c1f2ba0f9966781f1e0ae695e8a6f}, {\bf egamma} \doxyref{}{p.}{classegamma_8e10c0021b5dfdd9cb62c6959b5ef425}, {\bf euni} \doxyref{}{p.}{classeuni_4a0e09392be17beaee120ba98fc038cd}, {\bf eEmp} \doxyref{}{p.}{classeEmp_83f9283f92b805508d896479dc1ccf12}, {\bf enorm$<$ ldmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf enorm$<$ chmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, and {\bf enorm$<$ fsqmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}.
 
 Referenced by mpdf::samplecond(), PF::set\_\-est(), and eEmp::set\_\-parameters().
Index: doc/latex/classuicompound.tex
===================================================================
--- doc/latex/classuicompound.tex (revision 99)
+++ doc/latex/classuicompound.tex (revision 99)
@@ -0,0 +1,59 @@
+\section{uicompound Class Reference}
+\label{classuicompound}\index{uicompound@{uicompound}}
+Compound user info.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uicompound:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=56pt]{classuicompound__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uicompound:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=72pt]{classuicompound__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf uicompound} (const int n0)\label{classuicompound_181137b83f1fb99a5699aa91dd7e3039}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+virtual void {\bf getsummary} (std::string \&S)\label{classuibase_de805f1ce9c1b261dc47d57c506d36f1}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+virtual void {\bf askuser} ()\label{classuibase_d28232d94715c153afb9280a8a4552eb}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+{\bf uibase} $\ast$$\ast$ \textbf{elems}\label{classuicompound_261e7427e634e62e7cbeed9b94cc8c82}
+
+\item 
+std::string \textbf{comment}\label{classuibase_ed2f3a2d87b426e1e2be49f274e8351f}
+
+\item 
+std::string \textbf{help}\label{classuibase_ad4e295b1f04999c37a244122a60f0d7}
+
+\item 
+{\bf uibase} $\ast$ \textbf{parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Compound user info. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
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Index: doc/latex/classBMcond.tex
===================================================================
--- doc/latex/classBMcond.tex (revision 91)
+++ doc/latex/classBMcond.tex (revision 99)
@@ -4,5 +4,5 @@
 
 
-{\tt \#include $<$arx.h$>$}
+{\tt \#include $<$libBM.h$>$}
 
 Inheritance diagram for BMcond:\nopagebreak
@@ -34,16 +34,4 @@
 const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
 
-\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
-virtual void {\bf condition} (const vec \&val)=0\label{classBMcond_3543cfe274c35f9033c24d8036a96c4d}
-
-\begin{CompactList}\small\item\em Substitute {\tt val} for {\tt rvc}. \item\end{CompactList}\item 
-{\bf BMcond} ({\bf RV} \&rv0)\label{classBMcond_9a38dcdabef902fd91da3c9fb6ac27f7}
-
-\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
-virtual {\bf $\sim$BMcond} ()\label{classBMcond_d40c72250cf93640f982d06de20815b2}
-
-\begin{CompactList}\small\item\em Destructor for future use. \item\end{CompactList}\item 
-const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
-
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
 \subsection*{Protected Attributes}
@@ -58,14 +46,9 @@
 Conditional Bayesian Filter. 
 
-Evaluates conditional filtering density \$f(rv$|$rvc,data)\$ for a given {\tt rvc} which is specified in each step by calling function {\tt condition}.
-
-This is an interface class used to assure that certain \doxyref{BM}{p.}{classBM} has operation {\tt condition} .
-
 Evaluates conditional filtering density $f(rv|rvc,data)$ for a given {\tt rvc} which is specified in each step by calling function {\tt condition}.
 
 This is an interface class used to assure that certain \doxyref{BM}{p.}{classBM} has operation {\tt condition} . 
 
-The documentation for this class was generated from the following files:\begin{CompactItemize}
+The documentation for this class was generated from the following file:\begin{CompactItemize}
 \item 
-work/mixpp/bdm/stat/{\bf arx.h}\item 
 work/mixpp/bdm/stat/{\bf libBM.h}\end{CompactItemize}
Index: doc/latex/libPF_8h.tex
===================================================================
--- doc/latex/libPF_8h.tex (revision 91)
+++ doc/latex/libPF_8h.tex (revision 99)
@@ -13,4 +13,13 @@
 \leavevmode
 \includegraphics[width=174pt]{libPF_8h__incl}
+\end{center}
+\end{figure}
+
+
+This graph shows which files directly or indirectly include this file:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=97pt]{libPF_8h__dep__incl}
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Index: doc/latex/stat_2arx_8h.tex
===================================================================
--- doc/latex/stat_2arx_8h.tex (revision 99)
+++ doc/latex/stat_2arx_8h.tex (revision 99)
@@ -0,0 +1,32 @@
+\section{work/mixpp/bdm/stat/arx.h File Reference}
+\label{stat_2arx_8h}\index{work/mixpp/bdm/stat/arx.h@{work/mixpp/bdm/stat/arx.h}}
+Bayesian Models (bm) that use Bayes rule to learn from observations. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include $<$libBM.h$>$}\par
+
+
+Include dependency graph for arx.h:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=88pt]{stat_2arx_8h__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{CompactItemize}
+\item 
+class {\bf ARX}
+\begin{CompactList}\small\item\em Linear Autoregressive model with Gaussian noise. \item\end{CompactList}\item 
+class {\bf BMcond}
+\begin{CompactList}\small\item\em Conditional Bayesian Filter. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Bayesian Models (bm) that use Bayes rule to learn from observations. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
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Index: doc/latex/refman.tex
===================================================================
--- doc/latex/refman.tex (revision 91)
+++ doc/latex/refman.tex (revision 99)
@@ -21,5 +21,5 @@
 {\large Generated by Doxygen 1.5.5}\\
 \vspace*{0.5cm}
-{\small Tue Apr 29 20:46:24 2008}\\
+{\small Fri May 9 16:15:20 2008}\\
 \end{center}
 \end{titlepage}
@@ -29,6 +29,8 @@
 \clearemptydoublepage
 \pagenumbering{arabic}
+\chapter{Bayesian Decision-Making toolbox for C++ }
+\label{index}\input{index}
 \chapter{Coding Rules (Mostly inherited from IT++)}
-\input{codingrules}
+\include{codingrules}
 \chapter{Class Index}
 \input{hierarchy}
@@ -50,4 +52,5 @@
 \include{classeEmp}
 \include{classegamma}
+\include{classegiw}
 \include{classEKF}
 \include{classEKF__unQ}
@@ -83,5 +86,4 @@
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 \include{classuibase}
-\include{classuicompound}
 \include{classuimatrix}
 \include{classuiscalar}
@@ -89,13 +91,14 @@
 \include{classuivector}
 \chapter{File Documentation}
-\input{libKF_8h}
+\input{arx_8h}
+\include{libKF_8h}
 \include{libPF_8h}
 \include{chmat_8h}
 \include{libDC_8h}
-\include{arx_8h}
 \include{libBM_8h}
 \include{libDS_8h}
 \include{libEF_8h}
 \include{loggers_8h}
+\include{sim__var_8cpp}
 \include{ekf__obj_8h}
 \printindex
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Index: doc/latex/classKFcondQR.tex
===================================================================
--- doc/latex/classKFcondQR.tex (revision 91)
+++ doc/latex/classKFcondQR.tex (revision 99)
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 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
 double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
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-const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
Index: doc/latex/libEF_8h__dep__incl.md5
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Index: doc/latex/classegamma.tex
===================================================================
--- doc/latex/classegamma.tex (revision 91)
+++ doc/latex/classegamma.tex (revision 99)
@@ -37,4 +37,7 @@
 
 \begin{CompactList}\small\item\em Compute log-probability of argument {\tt val}. \item\end{CompactList}\item 
+double {\bf lognc} () const \label{classegamma_d6dbbdb72360f9e54d64501f80318bb6}
+
+\begin{CompactList}\small\item\em logarithm of the normalizing constant, $\mathcal{I}$ \item\end{CompactList}\item 
 void {\bf \_\-param} (vec $\ast$\&a, vec $\ast$\&b)\label{classegamma_44445c56e60b91b377f207f8d5089790}
 
@@ -82,5 +85,5 @@
 Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
 
-Returns a sample from the density, $x \sim epdf(rv)$ 
+Returns a sample, $x$ from density $epdf(rv)$ 
 
 Implements {\bf epdf} \doxyref{}{p.}{classepdf_8019654e494bf5e458f6fb947e11b262}.
Index: doc/latex/arx_8h__incl.md5
===================================================================
--- doc/latex/arx_8h__incl.md5 (revision 99)
+++ doc/latex/arx_8h__incl.md5 (revision 99)
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Index: doc/latex/chmat_8h.tex
===================================================================
--- doc/latex/chmat_8h.tex (revision 91)
+++ doc/latex/chmat_8h.tex (revision 99)
@@ -5,4 +5,5 @@
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Index: doc/latex/libPF_8h__dep__incl.md5
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Index: doc/latex/classEKFfull.tex
===================================================================
--- doc/latex/classEKFfull.tex (revision 99)
+++ doc/latex/classEKFfull.tex (revision 99)
@@ -0,0 +1,131 @@
+\section{EKFfull Class Reference}
+\label{classEKFfull}\index{EKFfull@{EKFfull}}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in full matrices.  
+
+
+{\tt \#include $<$libKF.h$>$}
+
+Inheritance diagram for EKFfull:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=78pt]{classEKFfull__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for EKFfull:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=400pt]{classEKFfull__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf EKFfull} ({\bf RV} rvx, {\bf RV} rvy, {\bf RV} rvu)\label{classEKFfull_67ac4de96fd025197da767fe0472c7f7}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf set\_\-parameters} ({\bf diffbifn} $\ast$pfxu, {\bf diffbifn} $\ast$phxu, const mat Q0, const mat R0)\label{classEKFfull_fc753106e0d4cf68e4f2160fd54458c0}
+
+\begin{CompactList}\small\item\em Set nonlinear functions for mean values and covariance matrices. \item\end{CompactList}\item 
+void {\bf bayes} (const vec \&dt)\label{classEKFfull_8ca46f177e395fa714bbd8bd29ea43e0}
+
+\begin{CompactList}\small\item\em Here dt = [yt;ut] of appropriate dimensions. \item\end{CompactList}\item 
+void {\bf set\_\-est} (vec mu0, mat P0)\label{classEKFfull_7bb76ea74c144ea0b36db99f94750b7b}
+
+\begin{CompactList}\small\item\em set estimates \item\end{CompactList}\item 
+{\bf epdf} \& {\bf \_\-epdf} ()\label{classEKFfull_4080d68f79dade36ccf547d57e64bdc2}
+
+\begin{CompactList}\small\item\em dummy! \item\end{CompactList}\item 
+void {\bf bayes} (mat Dt)\label{classBM_87b07867fd4c133aa89a18543f68d9f9}
+
+\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item 
+const {\bf RV} \& {\bf \_\-rv} () const \label{classBM_126bd2595c48e311fc2a7ab72876092a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Public Attributes}
+\begin{CompactItemize}
+\item 
+vec {\bf mu}\label{classKalmanFull_fb5aec635e2720cc5ac31bc01c18a68a}
+
+\begin{CompactList}\small\item\em Mean value of the posterior density. \item\end{CompactList}\item 
+mat {\bf P}\label{classKalmanFull_b75dc059e84fa8ffc076203b30f926cc}
+
+\begin{CompactList}\small\item\em Variance of the posterior density. \item\end{CompactList}\item 
+bool \textbf{evalll}\label{classKalmanFull_c17d69e125acd2673e6688fd86dd3f84}
+
+\item 
+double \textbf{ll}\label{classKalmanFull_3aa4bf6128980d0627413dcf9cd07308}
+
+\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+int \textbf{dimx}\label{classKalmanFull_c5353e66238ed717dba79e0499118226}
+
+\item 
+int \textbf{dimy}\label{classKalmanFull_761fadcc12dd4cb83bb8b5e27db01947}
+
+\item 
+int \textbf{dimu}\label{classKalmanFull_609a4a0fcde78fd7aac2f01b34e952c9}
+
+\item 
+mat \textbf{A}\label{classKalmanFull_554de4c953761380cd5a14a02542e007}
+
+\item 
+mat \textbf{B}\label{classKalmanFull_ac7ade2a603a1b05419e36c5aae21755}
+
+\item 
+mat \textbf{C}\label{classKalmanFull_5a9a8326ae17b519109fcdad59ea74a3}
+
+\item 
+mat \textbf{D}\label{classKalmanFull_8f992a2d6b66d2e8bd9174b28cc0f074}
+
+\item 
+mat \textbf{R}\label{classKalmanFull_bbd2dab10da47237a5f0d9e55fd61f24}
+
+\item 
+mat \textbf{Q}\label{classKalmanFull_a8777c1fe67763395d3ddeb326239851}
+
+\item 
+mat \textbf{\_\-Pp}\label{classKalmanFull_905823cf4157a11b8b824e45809dac55}
+
+\item 
+mat \textbf{\_\-Ry}\label{classKalmanFull_b1b946b3a43f7d86cf4b6dc0dd6e3210}
+
+\item 
+mat \textbf{\_\-iRy}\label{classKalmanFull_c7d915386a9d60b1bc309ae9166764f6}
+
+\item 
+mat \textbf{\_\-K}\label{classKalmanFull_4c8354ea4801529f3071189ddd10d760}
+
+\item 
+{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88}
+
+\begin{CompactList}\small\item\em Random variable of the posterior. \item\end{CompactList}\item 
+double {\bf ll}\label{classBM_5623fef6572a08c2b53b8c87b82dc979}
+
+\begin{CompactList}\small\item\em Logarithm of marginalized data likelihood. \item\end{CompactList}\item 
+bool {\bf evalll}\label{classBM_bf6fb59b30141074f8ee1e2f43d03129}
+
+\begin{CompactList}\small\item\em If true, the filter will compute likelihood of the data record and store it in {\tt ll} . Set to false if you want to save time. \item\end{CompactList}\end{CompactItemize}
+\subsection*{Friends}
+\begin{CompactItemize}
+\item 
+std::ostream \& {\bf operator$<$$<$} (std::ostream \&os, const {\bf KalmanFull} \&kf)\label{classKalmanFull_86ba216243ed95bb46d80d88775d16af}
+
+\begin{CompactList}\small\item\em print elements of KF \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in full matrices. 
+
+An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. 
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/estim/{\bf libKF.h}\item 
+work/mixpp/bdm/estim/libKF.cpp\end{CompactItemize}
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Index: doc/latex/arx_8h.tex
===================================================================
--- doc/latex/arx_8h.tex (revision 99)
+++ doc/latex/arx_8h.tex (revision 99)
@@ -0,0 +1,31 @@
+\section{work/mixpp/bdm/estim/arx.h File Reference}
+\label{arx_8h}\index{work/mixpp/bdm/estim/arx.h@{work/mixpp/bdm/estim/arx.h}}
+Bayesian Filtering for generalized autoregressive (\doxyref{ARX}{p.}{classARX}) model. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include \char`\"{}../stat/libFN.h\char`\"{}}\par
+{\tt \#include \char`\"{}../stat/libEF.h\char`\"{}}\par
+
+
+Include dependency graph for arx.h:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=192pt]{arx_8h__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{CompactItemize}
+\item 
+class {\bf ARX}
+\begin{CompactList}\small\item\em Linear Autoregressive model with Gaussian noise. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Bayesian Filtering for generalized autoregressive (\doxyref{ARX}{p.}{classARX}) model. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
Index: doc/latex/loggers_8h__incl.md5
===================================================================
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Index: doc/latex/classlogger__inherit__graph.md5
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Index: doc/latex/classlogger.tex
===================================================================
--- doc/latex/classlogger.tex (revision 99)
+++ doc/latex/classlogger.tex (revision 99)
@@ -0,0 +1,51 @@
+\section{logger Class Reference}
+\label{classlogger}\index{logger@{logger}}
+Class for storing results (and semi-results) of an experiment.  
+
+
+{\tt \#include $<$loggers.h$>$}
+
+Inheritance diagram for logger:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=48pt]{classlogger__inherit__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf logger} ()\label{classlogger_4f753a510e00c892b38e95c2284363a6}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+virtual int {\bf add} ({\bf RV} rv, string name=\char`\"{}\char`\"{})\label{classlogger_3d6c6ab580b36619c4010e3ebec55378}
+
+\begin{CompactList}\small\item\em returns an identifier which will be later needed for calling the log() function \item\end{CompactList}\item 
+virtual void {\bf logit} (int id, vec v)=0\label{classlogger_efb5a59cb329f58810b09bd9cc270b78}
+
+\begin{CompactList}\small\item\em log this vector \item\end{CompactList}\item 
+virtual void {\bf step} (bool final=false)=0\label{classlogger_2b86e4ad1d970cb4a0db4ded3ca59924}
+
+\begin{CompactList}\small\item\em consider this record to be complete \item\end{CompactList}\item 
+virtual {\bf $\sim$logger} ()\label{classlogger_92c63a0a87392c62b9ed3c00faa9d5df}
+
+\begin{CompactList}\small\item\em for future use \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+Array$<$ {\bf RV} $>$ {\bf entries}\label{classlogger_83eea0cf4fbca59474d015f751f128a7}
+
+\begin{CompactList}\small\item\em RVs of all logged variables. \item\end{CompactList}\item 
+Array$<$ string $>$ {\bf names}\label{classlogger_39cb79e839ca8f8bb9dcbc8c5b9c7786}
+
+\begin{CompactList}\small\item\em Names of logged quantities, e.g. names of algorithm variants. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Class for storing results (and semi-results) of an experiment. 
+
+This class abstracts logging of results from implementation. This class replaces direct logging of results (e.g. to files or to global variables) by calling methods of a \doxyref{logger}{p.}{classlogger}. Specializations of this abstract class for specific storage method are designed. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/stat/{\bf loggers.h}\end{CompactItemize}
Index: doc/latex/libKF_8h__dep__incl.md5
===================================================================
--- doc/latex/libKF_8h__dep__incl.md5 (revision 99)
+++ doc/latex/libKF_8h__dep__incl.md5 (revision 99)
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Index: doc/latex/classeEF__inherit__graph.md5
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Index: doc/latex/classeEF.tex
===================================================================
--- doc/latex/classeEF.tex (revision 91)
+++ doc/latex/classeEF.tex (revision 99)
@@ -26,4 +26,7 @@
 
 \begin{CompactList}\small\item\em default constructor \item\end{CompactList}\item 
+virtual double {\bf lognc} () const =0\label{classeEF_69e5680dac10375d62520d26c672477d}
+
+\begin{CompactList}\small\item\em logarithm of the normalizing constant, $\mathcal{I}$ \item\end{CompactList}\item 
 virtual void {\bf tupdate} (double phi, mat \&vbar, double nubar)\label{classeEF_fd88bc35550ec8fe9281d358216d0fcf}
 
@@ -67,7 +70,7 @@
 Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
 
-Returns a sample from the density, $x \sim epdf(rv)$ 
+Returns a sample, $x$ from density $epdf(rv)$ 
 
-Implemented in {\bf enorm$<$ sq\_\-T $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf egamma} \doxyref{}{p.}{classegamma_8e10c0021b5dfdd9cb62c6959b5ef425}, {\bf euni} \doxyref{}{p.}{classeuni_4a0e09392be17beaee120ba98fc038cd}, {\bf eEmp} \doxyref{}{p.}{classeEmp_83f9283f92b805508d896479dc1ccf12}, {\bf enorm$<$ ldmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf enorm$<$ chmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, and {\bf enorm$<$ fsqmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}.
+Implemented in {\bf enorm$<$ sq\_\-T $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf egiw} \doxyref{}{p.}{classegiw_3d2c1f2ba0f9966781f1e0ae695e8a6f}, {\bf egamma} \doxyref{}{p.}{classegamma_8e10c0021b5dfdd9cb62c6959b5ef425}, {\bf euni} \doxyref{}{p.}{classeuni_4a0e09392be17beaee120ba98fc038cd}, {\bf eEmp} \doxyref{}{p.}{classeEmp_83f9283f92b805508d896479dc1ccf12}, {\bf enorm$<$ ldmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, {\bf enorm$<$ chmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}, and {\bf enorm$<$ fsqmat $>$} \doxyref{}{p.}{classenorm_60b47544f6181ffd4530d3e415ce12c5}.
 
 Referenced by mpdf::samplecond(), PF::set\_\-est(), and eEmp::set\_\-parameters().
Index: doc/latex/classegiw__coll__graph.md5
===================================================================
--- doc/latex/classegiw__coll__graph.md5 (revision 99)
+++ doc/latex/classegiw__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+62ee11c899d6a8197f616e94ef6c7412
Index: doc/latex/loggers_8h.tex
===================================================================
--- doc/latex/loggers_8h.tex (revision 99)
+++ doc/latex/loggers_8h.tex (revision 99)
@@ -0,0 +1,44 @@
+\section{work/mixpp/bdm/stat/loggers.h File Reference}
+\label{loggers_8h}\index{work/mixpp/bdm/stat/loggers.h@{work/mixpp/bdm/stat/loggers.h}}
+Loggers for storing results of experiments. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include \char`\"{}libBM.h\char`\"{}}\par
+{\tt \#include \char`\"{}../itpp\_\-ext.h\char`\"{}}\par
+
+
+Include dependency graph for loggers.h:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=114pt]{loggers_8h__incl}
+\end{center}
+\end{figure}
+
+
+This graph shows which files directly or indirectly include this file:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=97pt]{loggers_8h__dep__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{CompactItemize}
+\item 
+class {\bf logger}
+\begin{CompactList}\small\item\em Class for storing results (and semi-results) of an experiment. \item\end{CompactList}\item 
+class {\bf memlog}
+\begin{CompactList}\small\item\em Logging into matrices in data format in memory. \item\end{CompactList}\item 
+class {\bf dirfilelog}
+\begin{CompactList}\small\item\em Logging into dirfile with buffer in memory. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Loggers for storing results of experiments. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
Index: doc/latex/classuivector__coll__graph.md5
===================================================================
--- doc/latex/classuivector__coll__graph.md5 (revision 99)
+++ doc/latex/classuivector__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
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Index: doc/latex/chmat_8h__dep__incl.md5
===================================================================
--- doc/latex/chmat_8h__dep__incl.md5 (revision 91)
+++ doc/latex/chmat_8h__dep__incl.md5 (revision 99)
@@ -1,1 +1,1 @@
-2207d26af9ab4f50731263da767fb2c2
+ff3cd69d34e9abac9d40fcb110a52014
Index: doc/latex/libKF_8h__incl.md5
===================================================================
--- doc/latex/libKF_8h__incl.md5 (revision 91)
+++ doc/latex/libKF_8h__incl.md5 (revision 99)
@@ -1,1 +1,1 @@
-e77eefc3d69335cb0f7396d4e3396620
+6ed48e2ea3ef3328ad709c2c4a0cf782
Index: doc/latex/classARX.tex
===================================================================
--- doc/latex/classARX.tex (revision 99)
+++ doc/latex/classARX.tex (revision 99)
@@ -0,0 +1,98 @@
+\section{ARX Class Reference}
+\label{classARX}\index{ARX@{ARX}}
+Linear Autoregressive model with Gaussian noise.  
+
+
+{\tt \#include $<$arx.h$>$}
+
+Inheritance diagram for ARX:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=40pt]{classARX__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for ARX:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=90pt]{classARX__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf ARX} ({\bf RV} \&{\bf rv}, mat \&V0, double \&nu0, double frg0=1.0)\label{classARX_5fc6c18e73dcc0f1135eef33f42db8be}
+
+\begin{CompactList}\small\item\em Full constructor. \item\end{CompactList}\item 
+void {\bf bayes} (const vec \&dt)\label{classARX_ba82c956ca893826811aefe1e4af465d}
+
+\begin{CompactList}\small\item\em Here $dt = [y_t psi_t] $. \item\end{CompactList}\item 
+{\bf epdf} \& {\bf \_\-epdf} ()\label{classARX_9d8eff7a9df81786191a4c55b27e5b8a}
+
+\begin{CompactList}\small\item\em Returns a pointer to the \doxyref{epdf}{p.}{classepdf} representing posterior density on parameters. Use with care! \item\end{CompactList}\item 
+ivec {\bf structure\_\-est} ({\bf egiw} Eg0)
+\begin{CompactList}\small\item\em Brute force structure estimation. \item\end{CompactList}\item 
+void {\bf bayes} (mat Dt)\label{classBM_87b07867fd4c133aa89a18543f68d9f9}
+
+\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item 
+const {\bf RV} \& {\bf \_\-rv} () const \label{classBM_126bd2595c48e311fc2a7ab72876092a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+{\bf egiw} {\bf est}\label{classARX_691d023662beffa1dda611b416c0e27e}
+
+\begin{CompactList}\small\item\em Posterior estimate of $\theta,r$ in the form of Normal-inverse Wishart density. \item\end{CompactList}\item 
+{\bf ldmat} \& {\bf V}\label{classARX_2291297861dd74ca0175a01f910a0ef7}
+
+\begin{CompactList}\small\item\em cached value of est.V \item\end{CompactList}\item 
+double \& {\bf nu}\label{classARX_a4182c281098b2d86b62518a7493d9be}
+
+\begin{CompactList}\small\item\em cached value of est.nu \item\end{CompactList}\item 
+double {\bf frg}\label{classARX_e467144efb0a5acbc10dba4eff8638fe}
+
+\begin{CompactList}\small\item\em forgetting factor \item\end{CompactList}\item 
+double {\bf last\_\-lognc}\label{classARX_6d0cd0f0734aa77cdc5e48f1cf6737ec}
+
+\begin{CompactList}\small\item\em cached value of lognc() in the previous step \item\end{CompactList}\item 
+{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88}
+
+\begin{CompactList}\small\item\em Random variable of the posterior. \item\end{CompactList}\item 
+double {\bf ll}\label{classBM_5623fef6572a08c2b53b8c87b82dc979}
+
+\begin{CompactList}\small\item\em Logarithm of marginalized data likelihood. \item\end{CompactList}\item 
+bool {\bf evalll}\label{classBM_bf6fb59b30141074f8ee1e2f43d03129}
+
+\begin{CompactList}\small\item\em If true, the filter will compute likelihood of the data record and store it in {\tt ll} . Set to false if you want to save time. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Linear Autoregressive model with Gaussian noise. 
+
+Regression of the following kind: \[ y_t = \theta_1 \psi_1 + \theta_2 + \psi_2 +\ldots + \theta_n \psi_n + r e_t \] where unknown parameters {\tt rv} are $[\theta r]$, regression vector $\psi=\psi(y_{1:t},u_{1:t})$ is a known function of past outputs and exogeneous variables $u_t$. Distrubances $e_t$ are supposed to be normally distributed: \[ e_t \sim \mathcal{N}(0,1). \]
+
+Extension for time-variant parameters $\theta_t,r_t$ may be achived using exponential forgetting (Kulhavy and Zarrop, 1993). In such a case, the forgetting factor {\tt frg} $\in <0,1>$ should be given in the constructor. Time-invariant parameters are estimated for {\tt frg} = 1. 
+
+\subsection{Member Function Documentation}
+\index{ARX@{ARX}!structure\_\-est@{structure\_\-est}}
+\index{structure\_\-est@{structure\_\-est}!ARX@{ARX}}
+\subsubsection{\setlength{\rightskip}{0pt plus 5cm}ivec ARX::structure\_\-est ({\bf egiw} {\em Eg0})}\label{classARX_130bb7336aac681ce14b027b8f1409fa}
+
+
+Brute force structure estimation. 
+
+\begin{Desc}
+\item[Returns:]indeces of accepted regressors. \end{Desc}
+
+
+References RV::count(), est, egiw::lognc(), and BM::rv.
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/estim/{\bf arx.h}\item 
+work/mixpp/bdm/estim/arx.cpp\end{CompactItemize}
Index: doc/latex/classEKFfixed__coll__graph.md5
===================================================================
--- doc/latex/classEKFfixed__coll__graph.md5 (revision 99)
+++ doc/latex/classEKFfixed__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+3caeb6e1d5d2d6c47284622efb742c2e
Index: doc/latex/classARX__coll__graph.md5
===================================================================
--- doc/latex/classARX__coll__graph.md5 (revision 99)
+++ doc/latex/classARX__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+beb5365df393af17037a6918a316d186
Index: doc/latex/classEKFfixed__inherit__graph.md5
===================================================================
--- doc/latex/classEKFfixed__inherit__graph.md5 (revision 99)
+++ doc/latex/classEKFfixed__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+5dcdd6ca8207978719471f5162fb4185
Index: doc/latex/classEKFfixed.tex
===================================================================
--- doc/latex/classEKFfixed.tex (revision 99)
+++ doc/latex/classEKFfixed.tex (revision 99)
@@ -0,0 +1,149 @@
+\section{EKFfixed Class Reference}
+\label{classEKFfixed}\index{EKFfixed@{EKFfixed}}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in full matrices.  
+
+
+{\tt \#include $<$ekf\_\-obj.h$>$}
+
+Inheritance diagram for EKFfixed:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=72pt]{classEKFfixed__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for EKFfixed:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=400pt]{classEKFfixed__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+void \textbf{init\_\-ekf} (double Tv)\label{classEKFfixed_cece920bbf58fc72b25a6417b3ef0259}
+
+\item 
+void \textbf{ekf} (double ux, double uy, double isxd, double isyd)\label{classEKFfixed_491e636b259dda3b876b7bd492df6b7c}
+
+\item 
+void \textbf{prediction} (int $\ast$ux)\label{classEKFfixed_e77b35e1a11356dbfb1fdfa3017f60d3}
+
+\item 
+void \textbf{correction} (void)\label{classEKFfixed_83ed56b86a056d7dbdd6ce44145fa5f3}
+
+\item 
+void \textbf{update\_\-psi} (void)\label{classEKFfixed_dce43355681cfe8f1905db207b4dde8d}
+
+\item 
+{\bf EKFfixed} ({\bf RV} rvx, {\bf RV} {\bf rvc})\label{classEKFfixed_64d7b1a39c27b1846bcd5628928748ef}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf bayes} (const vec \&dt)\label{classEKFfixed_ddf5334bc1207658fd53698fffbac028}
+
+\begin{CompactList}\small\item\em Here dt = [yt;ut] of appropriate dimensions. \item\end{CompactList}\item 
+{\bf epdf} \& {\bf \_\-epdf} ()\label{classEKFfixed_085cf16c573eda32d8d03619c6c4b518}
+
+\begin{CompactList}\small\item\em dummy! \item\end{CompactList}\item 
+void {\bf condition} (const vec \&Q0)\label{classEKFfixed_c7fee79e75ad7f0c0e96c5a322cbf44e}
+
+\begin{CompactList}\small\item\em Substitute {\tt val} for {\tt rvc}. \item\end{CompactList}\item 
+void {\bf bayes} (mat Dt)\label{classBM_87b07867fd4c133aa89a18543f68d9f9}
+
+\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item 
+const {\bf RV} \& {\bf \_\-rv} () const \label{classBM_126bd2595c48e311fc2a7ab72876092a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Public Attributes}
+\begin{CompactItemize}
+\item 
+int \textbf{Q} [16]\label{classEKFfixed_d04ddf049475a15e1ba93161aa5586ab}
+
+\item 
+int \textbf{R} [4]\label{classEKFfixed_d914213d413b4d8f8d7bb728c5063d5e}
+
+\item 
+int \textbf{x\_\-est} [4]\label{classEKFfixed_7fd20a80b00e9782da676e48eb5b54b3}
+
+\item 
+int \textbf{x\_\-pred} [4]\label{classEKFfixed_9518fa723d7324f75df7822a589ee196}
+
+\item 
+int \textbf{P\_\-pred} [16]\label{classEKFfixed_0b731c546a474433c1ea6f36f0125774}
+
+\item 
+int \textbf{P\_\-est} [16]\label{classEKFfixed_b9ec9cb2d092ca3f4ad2a3b4420867ac}
+
+\item 
+int \textbf{Y\_\-mes} [2]\label{classEKFfixed_5a8040cdb8bb5dca753485dc67db3287}
+
+\item 
+int \textbf{ukalm} [2]\label{classEKFfixed_9292e43fb8e6fedfabb3a9b3c2118e33}
+
+\item 
+int \textbf{Kalm} [8]\label{classEKFfixed_f754902bb769d3b58b89108c76d9a394}
+
+\item 
+int \textbf{PSI} [16]\label{classEKFfixed_bf4b3d55c8d277673bf77f37f6590217}
+
+\item 
+int \textbf{temp15a} [16]\label{classEKFfixed_8a677b253b54696701c1ca0cb6f7a622}
+
+\item 
+int \textbf{cA}\label{classEKFfixed_6d4354dad09286a7a209983732853c5b}
+
+\item 
+int \textbf{cB}\label{classEKFfixed_eac752adfb921c1c525f8c3b3fd15dad}
+
+\item 
+int \textbf{cC}\label{classEKFfixed_2f35ef3dce13131ae9b4427309a1d005}
+
+\item 
+int \textbf{cG}\label{classEKFfixed_50b31e70bb17cbdde2e28c83b9612c47}
+
+\item 
+int \textbf{cH}\label{classEKFfixed_086e18ad28d139b0a2c0f77badc77a9a}
+
+\item 
+long \textbf{temp30a} [4]\label{classEKFfixed_540046e3ab4d0bed4791f397062a626f}
+
+\item 
+{\bf enorm}$<$ {\bf fsqmat} $>$ \textbf{E}\label{classEKFfixed_ea92b06e2b66c6771828e689bb727b76}
+
+\item 
+mat \textbf{Ry}\label{classEKFfixed_6e5552506214757d24e59e508f91c8aa}
+
+\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88}
+
+\begin{CompactList}\small\item\em Random variable of the posterior. \item\end{CompactList}\item 
+double {\bf ll}\label{classBM_5623fef6572a08c2b53b8c87b82dc979}
+
+\begin{CompactList}\small\item\em Logarithm of marginalized data likelihood. \item\end{CompactList}\item 
+bool {\bf evalll}\label{classBM_bf6fb59b30141074f8ee1e2f43d03129}
+
+\begin{CompactList}\small\item\em If true, the filter will compute likelihood of the data record and store it in {\tt ll} . Set to false if you want to save time. \item\end{CompactList}\item 
+{\bf RV} {\bf rvc}\label{classBMcond_9ba793c8ec453f04d372d17195ed8dec}
+
+\begin{CompactList}\small\item\em Identificator of the conditioning variable. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Extended \doxyref{Kalman}{p.}{classKalman} Filter in full matrices. 
+
+An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. 
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/{\bf ekf\_\-obj.h}\item 
+work/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/ekf\_\-obj.cpp\end{CompactItemize}
Index: doc/latex/classuibase__coll__graph.md5
===================================================================
--- doc/latex/classuibase__coll__graph.md5 (revision 99)
+++ doc/latex/classuibase__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+4778a2a56444a99e2fe01185b731e10b
Index: doc/latex/classuivector__inherit__graph.md5
===================================================================
--- doc/latex/classuivector__inherit__graph.md5 (revision 99)
+++ doc/latex/classuivector__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+2eb383c011a0c408e138b9a5a94e171c
Index: doc/latex/classEKF__unQ.tex
===================================================================
--- doc/latex/classEKF__unQ.tex (revision 91)
+++ doc/latex/classEKF__unQ.tex (revision 99)
@@ -70,7 +70,4 @@
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
 double {\bf \_\-ll} () const \label{classBM_87f4a547d2c29180be88175e5eab9c88}
-
-\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
-const {\bf RV} \& {\bf \_\-rvc} () const \label{classBMcond_3fa60348b2da6b4208bb95b8d146900a}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
Index: doc/latex/classuiscalar__inherit__graph.md5
===================================================================
--- doc/latex/classuiscalar__inherit__graph.md5 (revision 99)
+++ doc/latex/classuiscalar__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+38593f1bd5d6ccaf5b211dc4cc35500a
Index: doc/latex/classuivector.tex
===================================================================
--- doc/latex/classuivector.tex (revision 99)
+++ doc/latex/classuivector.tex (revision 99)
@@ -0,0 +1,76 @@
+\section{uivector$<$ T $>$ Class Template Reference}
+\label{classuivector}\index{uivector@{uivector}}
+User info for vectors.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uivector$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=59pt]{classuivector__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uivector$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=74pt]{classuivector__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+void {\bf getsummary} (std::string \&S)\label{classuivector_5ccf01fcd3717975d3a330f03a2bc347}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+{\bf uivector} (std::string com, {\bf uibase} $\ast$par=NULL)\label{classuivector_b9cf7db05fe899cad8f2a42580c7c3cb}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf askuser} ()\label{classuivector_46f823703a8de31ba14cbcc3406819db}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+void {\bf save} (std::ostream \&os)\label{classuivector_bb6488784b36f25eadcfbc02df0c99aa}
+
+\begin{CompactList}\small\item\em Save to file. \item\end{CompactList}\item 
+void {\bf load} (std::istream \&is)\label{classuivector_c8e640c8013c4c69f8ce9014009dd8c6}
+
+\begin{CompactList}\small\item\em load from file \item\end{CompactList}\item 
+void {\bf set\_\-value} (itpp::Vec$<$ T $>$ V0)\label{classuivector_08501b4bb9d1d93097488ec00da8677a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\item 
+int {\bf get\_\-level} ()\label{classuibase_e05d51c68e5e690110208ebad4c0a037}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+itpp::Vec$<$ T $>$ {\bf V}\label{classuivector_47efd0dfdea8804638ef674644de4253}
+
+\begin{CompactList}\small\item\em Value. \item\end{CompactList}\item 
+string {\bf name}\label{classuibase_b093af7c0a2a8b9bc3e71c1dc83779c3}
+
+\begin{CompactList}\small\item\em String identifier of a field. \item\end{CompactList}\item 
+string {\bf help}\label{classuibase_4bf69e2353bf0620e0dd714e0d92473a}
+
+\begin{CompactList}\small\item\em Explanation for a user what the field means. \item\end{CompactList}\item 
+{\bf uibase} $\ast$ {\bf parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\begin{CompactList}\small\item\em Possible parent of the userinfo. \item\end{CompactList}\item 
+int {\bf ilevel}\label{classuibase_d903be35ad6f3932eb5d8df8777e0fa1}
+
+\begin{CompactList}\small\item\em Indentation level, i.e. number of parents. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+\subsubsection*{template$<$class T$>$ class uivector$<$ T $>$}
+
+User info for vectors. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
Index: doc/latex/classuicompound__coll__graph.eps
===================================================================
--- doc/latex/classuicompound__coll__graph.eps (revision 99)
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Index: doc/latex/classuiscalar.tex
===================================================================
--- doc/latex/classuiscalar.tex (revision 99)
+++ doc/latex/classuiscalar.tex (revision 99)
@@ -0,0 +1,79 @@
+\section{uiscalar$<$ T $>$ Class Template Reference}
+\label{classuiscalar}\index{uiscalar@{uiscalar}}
+User info for scalars.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uiscalar$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=59pt]{classuiscalar__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uiscalar$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=89pt]{classuiscalar__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf uiscalar} (std::string com, {\bf uibase} $\ast$par=NULL)\label{classuiscalar_4b71f9d9246a3715df44d9701b1cbfdd}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf getsummary} (std::string \&S)\label{classuiscalar_cc3639d49c2577e7c40ebaf48ced444f}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+void {\bf askuser} ()\label{classuiscalar_9a21e792b929d081c33321714fbfe94f}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+void {\bf save} (std::ostream \&os)\label{classuiscalar_ccb9739e4989d7489dca75ea673238dd}
+
+\begin{CompactList}\small\item\em Save to file. \item\end{CompactList}\item 
+void {\bf load} (std::istream \&is)\label{classuiscalar_135480b7762b221331076227c292869c}
+
+\begin{CompactList}\small\item\em load from file \item\end{CompactList}\item 
+{\bf $\sim$uiscalar} ()\label{classuiscalar_23b474d26466a4b11f3adfd515da5ed1}
+
+\begin{CompactList}\small\item\em for future use \item\end{CompactList}\item 
+void {\bf set\_\-value} (T N0)\label{classuiscalar_3db4fc9c4970f184d4e78c492842a2d2}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\item 
+int {\bf get\_\-level} ()\label{classuibase_e05d51c68e5e690110208ebad4c0a037}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+T {\bf N}\label{classuiscalar_42d6a9f5bc37168a76e735d1254b97b8}
+
+\begin{CompactList}\small\item\em Value. \item\end{CompactList}\item 
+string {\bf name}\label{classuibase_b093af7c0a2a8b9bc3e71c1dc83779c3}
+
+\begin{CompactList}\small\item\em String identifier of a field. \item\end{CompactList}\item 
+string {\bf help}\label{classuibase_4bf69e2353bf0620e0dd714e0d92473a}
+
+\begin{CompactList}\small\item\em Explanation for a user what the field means. \item\end{CompactList}\item 
+{\bf uibase} $\ast$ {\bf parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\begin{CompactList}\small\item\em Possible parent of the userinfo. \item\end{CompactList}\item 
+int {\bf ilevel}\label{classuibase_d903be35ad6f3932eb5d8df8777e0fa1}
+
+\begin{CompactList}\small\item\em Indentation level, i.e. number of parents. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+\subsubsection*{template$<$class T$>$ class uiscalar$<$ T $>$}
+
+User info for scalars. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
Index: doc/latex/ekf__obj_8h.tex
===================================================================
--- doc/latex/ekf__obj_8h.tex (revision 99)
+++ doc/latex/ekf__obj_8h.tex (revision 99)
@@ -0,0 +1,40 @@
+\section{work/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/ekf\_\-obj.h File Reference}
+\label{ekf__obj_8h}\index{work/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/ekf\_\-obj.h@{work/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/ekf\_\-obj.h}}
+Bayesian Filtering for linear Gaussian models (\doxyref{Kalman}{p.}{classKalman} Filter) and extensions. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include $<$estim/libKF.h$>$}\par
+{\tt \#include \char`\"{}fixed.h\char`\"{}}\par
+{\tt \#include \char`\"{}matrix.h\char`\"{}}\par
+{\tt \#include \char`\"{}reference.h\char`\"{}}\par
+{\tt \#include \char`\"{}parametry\_\-motoru.h\char`\"{}}\par
+
+
+Include dependency graph for ekf\_\-obj.h:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=298pt]{ekf__obj_8h__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{CompactItemize}
+\item 
+class {\bf EKFfixed}
+\begin{CompactList}\small\item\em Extended \doxyref{Kalman}{p.}{classKalman} Filter in full matrices. \item\end{CompactList}\end{CompactItemize}
+\subsection*{Functions}
+\begin{CompactItemize}
+\item 
+double \textbf{minQ} (double Q)\label{ekf__obj_8h_20a104802ddcb544b8de3fe3e5e03253}
+
+\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Bayesian Filtering for linear Gaussian models (\doxyref{Kalman}{p.}{classKalman} Filter) and extensions. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
Index: doc/latex/libDC_8h__dep__incl.eps
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Index: doc/latex/classegiw__inherit__graph.md5
===================================================================
--- doc/latex/classegiw__inherit__graph.md5 (revision 99)
+++ doc/latex/classegiw__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+8bed38d8c24a7c89d19ae41671394b9c
Index: doc/latex/hierarchy.tex
===================================================================
--- doc/latex/hierarchy.tex (revision 91)
+++ doc/latex/hierarchy.tex (revision 99)
@@ -51,4 +51,5 @@
 \begin{CompactList}
 \item \contentsline{section}{egamma}{\pageref{classegamma}}{}
+\item \contentsline{section}{egiw}{\pageref{classegiw}}{}
 \item \contentsline{section}{enorm$<$ sq\_\-T $>$}{\pageref{classenorm}}{}
 \item \contentsline{section}{enorm$<$ chmat $>$}{\pageref{classenorm}}{}
@@ -102,5 +103,4 @@
 \item \contentsline{section}{uibase}{\pageref{classuibase}}{}
 \begin{CompactList}
-\item \contentsline{section}{uicompound}{\pageref{classuicompound}}{}
 \item \contentsline{section}{uimatrix$<$ T $>$}{\pageref{classuimatrix}}{}
 \item \contentsline{section}{uiscalar$<$ T $>$}{\pageref{classuiscalar}}{}
Index: doc/latex/classegiw.tex
===================================================================
--- doc/latex/classegiw.tex (revision 99)
+++ doc/latex/classegiw.tex (revision 99)
@@ -0,0 +1,91 @@
+\section{egiw Class Reference}
+\label{classegiw}\index{egiw@{egiw}}
+Gauss-inverse-Wishart density stored in LD form.  
+
+
+{\tt \#include $<$libEF.h$>$}
+
+Inheritance diagram for egiw:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=40pt]{classegiw__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for egiw:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=69pt]{classegiw__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf egiw} ({\bf RV} {\bf rv}, mat V0, double nu0)\label{classegiw_c52a2173c6eb1490edce9c6c7c05d60b}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+vec {\bf sample} () const 
+\begin{CompactList}\small\item\em Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. \item\end{CompactList}\item 
+vec {\bf mean} () const \label{classegiw_6deb0ff2859f41ef7cbdf6a842cabb29}
+
+\begin{CompactList}\small\item\em return expected value \item\end{CompactList}\item 
+double {\bf evalpdflog} (const vec \&val) const \label{classegiw_425cbc53b377274e28c6add942bab62d}
+
+\begin{CompactList}\small\item\em Compute log-probability of argument {\tt val}. \item\end{CompactList}\item 
+double {\bf lognc} () const \label{classegiw_70eb1a0b88459b227f919b425b0d3359}
+
+\begin{CompactList}\small\item\em logarithm of the normalizing constant, $\mathcal{I}$ \item\end{CompactList}\item 
+{\bf ldmat} \& {\bf \_\-V} ()\label{classegiw_533e792e1175bfa06d5d595dc5d080d5}
+
+\begin{CompactList}\small\item\em returns a pointer to the internal statistics. Use with Care! \item\end{CompactList}\item 
+double \& {\bf \_\-nu} ()\label{classegiw_08029c481ff95d24f093df0573879afe}
+
+\begin{CompactList}\small\item\em returns a pointer to the internal statistics. Use with Care! \item\end{CompactList}\item 
+virtual void {\bf tupdate} (double phi, mat \&vbar, double nubar)\label{classeEF_fd88bc35550ec8fe9281d358216d0fcf}
+
+\begin{CompactList}\small\item\em TODO decide if it is really needed. \item\end{CompactList}\item 
+virtual void {\bf dupdate} (mat \&v, double {\bf nu}=1.0)\label{classeEF_5863718c3b2fb1496dece10c5b745d5c}
+
+\begin{CompactList}\small\item\em TODO decide if it is really needed. \item\end{CompactList}\item 
+virtual double {\bf eval} (const vec \&val) const \label{classepdf_3ea597362e11a0040fe7c990269d072c}
+
+\begin{CompactList}\small\item\em Compute probability of argument {\tt val}. \item\end{CompactList}\item 
+{\bf RV} {\bf \_\-rv} () const \label{classepdf_b89143f12c9b49282e30841e4fb5f337}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+{\bf ldmat} {\bf V}\label{classegiw_f343d03ede89db820edf44a6297fa442}
+
+\begin{CompactList}\small\item\em Extended information matrix of sufficient statistics. \item\end{CompactList}\item 
+double {\bf nu}\label{classegiw_4a2f130b91afe84f6d62fed289d5d453}
+
+\begin{CompactList}\small\item\em Number of data records (degrees of freedom) of sufficient statistics. \item\end{CompactList}\item 
+{\bf RV} {\bf rv}\label{classepdf_74da992e3f5d598da8850b646b79b9d9}
+
+\begin{CompactList}\small\item\em Identified of the random variable. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Gauss-inverse-Wishart density stored in LD form. 
+
+More?... 
+
+\subsection{Member Function Documentation}
+\index{egiw@{egiw}!sample@{sample}}
+\index{sample@{sample}!egiw@{egiw}}
+\subsubsection{\setlength{\rightskip}{0pt plus 5cm}vec egiw::sample () const\hspace{0.3cm}{\tt  [virtual]}}\label{classegiw_3d2c1f2ba0f9966781f1e0ae695e8a6f}
+
+
+Returns the required moment of the \doxyref{epdf}{p.}{classepdf}. 
+
+Returns a sample, $x$ from density $epdf(rv)$ 
+
+Implements {\bf epdf} \doxyref{}{p.}{classepdf_8019654e494bf5e458f6fb947e11b262}.
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/stat/{\bf libEF.h}\item 
+work/mixpp/bdm/stat/libEF.cpp\end{CompactItemize}
Index: doc/latex/classuistring__inherit__graph.eps
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Index: doc/latex/estim_2arx_8h.tex
===================================================================
--- doc/latex/estim_2arx_8h.tex (revision 99)
+++ doc/latex/estim_2arx_8h.tex (revision 99)
@@ -0,0 +1,31 @@
+\section{work/mixpp/bdm/estim/arx.h File Reference}
+\label{estim_2arx_8h}\index{work/mixpp/bdm/estim/arx.h@{work/mixpp/bdm/estim/arx.h}}
+Bayesian Filtering for generalized autoregressive (\doxyref{ARX}{p.}{classARX}) model. 
+
+{\tt \#include $<$itpp/itbase.h$>$}\par
+{\tt \#include \char`\"{}../stat/libFN.h\char`\"{}}\par
+{\tt \#include \char`\"{}../stat/libEF.h\char`\"{}}\par
+
+
+Include dependency graph for arx.h:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=192pt]{estim_2arx_8h__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{CompactItemize}
+\item 
+class {\bf ARX}
+\begin{CompactList}\small\item\em Linear Autoregressive model with Gaussian noise. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Bayesian Filtering for generalized autoregressive (\doxyref{ARX}{p.}{classARX}) model. 
+
+\begin{Desc}
+\item[Author:]Vaclav Smidl.\end{Desc}
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty
+
+Using IT++ for numerical operations ----------------------------------- 
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Index: doc/latex/libEF_8h.tex
===================================================================
--- doc/latex/libEF_8h.tex (revision 91)
+++ doc/latex/libEF_8h.tex (revision 99)
@@ -22,5 +22,5 @@
 \begin{center}
 \leavevmode
-\includegraphics[width=209pt]{libEF_8h__dep__incl}
+\includegraphics[width=321pt]{libEF_8h__dep__incl}
 \end{center}
 \end{figure}
@@ -34,4 +34,6 @@
 class {\bf enorm$<$ sq\_\-T $>$}
 \begin{CompactList}\small\item\em Gaussian density with positive definite (decomposed) covariance matrix. \item\end{CompactList}\item 
+class {\bf egiw}
+\begin{CompactList}\small\item\em Gauss-inverse-Wishart density stored in LD form. \item\end{CompactList}\item 
 class {\bf egamma}
 \begin{CompactList}\small\item\em Gamma posterior density. \item\end{CompactList}\item 
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Index: doc/latex/classuicompound__coll__graph.md5
===================================================================
--- doc/latex/classuicompound__coll__graph.md5 (revision 99)
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Index: doc/latex/libKF_8h.tex
===================================================================
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Index: doc/latex/libDC_8h__dep__incl.md5
===================================================================
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Index: doc/latex/estim_2arx_8h__incl.md5
===================================================================
--- doc/latex/estim_2arx_8h__incl.md5 (revision 99)
+++ doc/latex/estim_2arx_8h__incl.md5 (revision 99)
@@ -0,0 +1,1 @@
+1409beff30cdb094cf76dab55f0fb1a3
Index: doc/latex/classuistring__inherit__graph.md5
===================================================================
--- doc/latex/classuistring__inherit__graph.md5 (revision 99)
+++ doc/latex/classuistring__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+58b0e2c6946e637cd66e5e27c00668ad
Index: doc/latex/loggers_8h__dep__incl.md5
===================================================================
--- doc/latex/loggers_8h__dep__incl.md5 (revision 99)
+++ doc/latex/loggers_8h__dep__incl.md5 (revision 99)
@@ -0,0 +1,1 @@
+814fcc3eddcd39704b0a03d3ac4c4b1e
Index: doc/latex/classmemlog__coll__graph.md5
===================================================================
--- doc/latex/classmemlog__coll__graph.md5 (revision 99)
+++ doc/latex/classmemlog__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+b70fb3ff07d0d8854ae7bb29ad7b8b3c
Index: doc/latex/classldmat.tex
===================================================================
--- doc/latex/classldmat.tex (revision 91)
+++ doc/latex/classldmat.tex (revision 99)
@@ -90,4 +90,10 @@
 
 \begin{CompactList}\small\item\em Access functions. \item\end{CompactList}\item 
+const vec \& {\bf \_\-D} () const \label{classldmat_282c879f50aa9ef934e7f46d86881582}
+
+\begin{CompactList}\small\item\em Access functions. \item\end{CompactList}\item 
+const mat \& {\bf \_\-L} () const \label{classldmat_5f44f100248c6627314afaa653b9e5bd}
+
+\begin{CompactList}\small\item\em Access functions. \item\end{CompactList}\item 
 {\bf ldmat} \& {\bf operator+=} (const {\bf ldmat} \&ldA)
 \begin{CompactList}\small\item\em add another \doxyref{ldmat}{p.}{classldmat} matrix \item\end{CompactList}\item 
@@ -136,5 +142,5 @@
 References D, sqmat::dim, and L.
 
-Referenced by add(), and inv().\index{ldmat@{ldmat}!mult\_\-sym@{mult\_\-sym}}
+Referenced by add(), ARX::bayes(), and inv().\index{ldmat@{ldmat}!mult\_\-sym@{mult\_\-sym}}
 \index{mult\_\-sym@{mult\_\-sym}!ldmat@{ldmat}}
 \subsubsection{\setlength{\rightskip}{0pt plus 5cm}void ldmat::mult\_\-sym (const mat \& {\em C})\hspace{0.3cm}{\tt  [virtual]}}\label{classldmat_e967b9425007f0cb6cd59b845f9756d8}
Index: doc/latex/classuistring.tex
===================================================================
--- doc/latex/classuistring.tex (revision 99)
+++ doc/latex/classuistring.tex (revision 99)
@@ -0,0 +1,74 @@
+\section{uistring Class Reference}
+\label{classuistring}\index{uistring@{uistring}}
+User info for strings.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uistring:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=46pt]{classuistring__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uistring:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=82pt]{classuistring__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+void {\bf getsummary} (std::string \&{\bf S})\label{classuistring_e386e7738fec80d6ef80a14ac03e05e4}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+{\bf uistring} (std::string com, {\bf uibase} $\ast$par=NULL)\label{classuistring_1853e3ed6881106360042949287c7dab}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf askuser} ()\label{classuistring_cb9eb5da0ad7bcb09f0d59b037954eec}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+void {\bf save} (std::ostream \&os)\label{classuistring_2f3c4c4ed42f720969dd6922063b784a}
+
+\begin{CompactList}\small\item\em Save to file. \item\end{CompactList}\item 
+void {\bf load} (std::istream \&is)\label{classuistring_382d63a6a9ec8f10b9ceb2ed197f6e20}
+
+\begin{CompactList}\small\item\em load from file \item\end{CompactList}\item 
+void {\bf set\_\-value} (std::string S0)\label{classuistring_89e96a96faca08d1847cd73cf8aaae9a}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\item 
+int {\bf get\_\-level} ()\label{classuibase_e05d51c68e5e690110208ebad4c0a037}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+std::string {\bf S}\label{classuistring_64e705aa389c10f7bc52b3860c40a2fd}
+
+\begin{CompactList}\small\item\em Values. \item\end{CompactList}\item 
+string {\bf name}\label{classuibase_b093af7c0a2a8b9bc3e71c1dc83779c3}
+
+\begin{CompactList}\small\item\em String identifier of a field. \item\end{CompactList}\item 
+string {\bf help}\label{classuibase_4bf69e2353bf0620e0dd714e0d92473a}
+
+\begin{CompactList}\small\item\em Explanation for a user what the field means. \item\end{CompactList}\item 
+{\bf uibase} $\ast$ {\bf parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\begin{CompactList}\small\item\em Possible parent of the userinfo. \item\end{CompactList}\item 
+int {\bf ilevel}\label{classuibase_d903be35ad6f3932eb5d8df8777e0fa1}
+
+\begin{CompactList}\small\item\em Indentation level, i.e. number of parents. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+User info for strings. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
Index: doc/latex/classEKFfull__coll__graph.md5
===================================================================
--- doc/latex/classEKFfull__coll__graph.md5 (revision 99)
+++ doc/latex/classEKFfull__coll__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+527453bf5e769c9d47386f0ca6e8866a
Index: doc/latex/index.tex
===================================================================
--- doc/latex/index.tex (revision 99)
+++ doc/latex/index.tex (revision 99)
@@ -0,0 +1,11 @@
+BDM is a collection of methods for selected tasks of Bayesian decision-making, such as estimation, filtering and control.\section{Approach}\label{index_Approach}
+The toolbox is designed using two design criteria: \begin{itemize}
+\item relation to mathematics, \item efficient evaluation, while the first one is more important than the latter.\end{itemize}
+Hence, each mathematical object such as probability density is represented by one software object. The resulting algorithms are then implemented as operations on these objects. In cases when more efficient solution can be achived when this structure is not respected, a parallel implementation is created and clearly marked as specific.\section{Methods}\label{index_Methods}
+At present we support the following methods: \begin{itemize}
+\item Estimation: \doxyref{ARX}{p.}{classARX} models \item Filtering: \doxyref{Kalman}{p.}{classKalman} filtering, Extended Kalman filters (\doxyref{EKF}{p.}{classEKF}), Particle filters (\doxyref{PF}{p.}{classPF}), Marginalized Particle filters (\doxyref{MPF}{p.}{classMPF}). \item Desing: None.\end{itemize}
+\section{Implementation}\label{index_Implementation}
+BDM is build on top of {\tt IT++} which wraps numerically efficient operations of linear algebra into easy to use C++ classes. Thanks to this excellent library, writing of numerical algorithms is as easy as in Matlab but we gain significant advantages:
+
+\begin{itemize}
+\item computational speed comparable to built-in Matlab function, and surpassing interpreted Matlab in order of magnitudes, \item native support for object-oriented programming, \item support for templates which is often more appropriate than object-oriented programming, \item cross-platform compatibility. \end{itemize}
Index: doc/latex/classuiscalar__coll__graph.eps
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Index: doc/latex/classBM__inherit__graph.md5
===================================================================
--- doc/latex/classBM__inherit__graph.md5 (revision 91)
+++ doc/latex/classBM__inherit__graph.md5 (revision 99)
@@ -1,1 +1,1 @@
-ac1f723955508fc62252fd1a877e7c90
+a2ae445d4eb137a3c60f3728dc735aa0
Index: doc/latex/classuimatrix__inherit__graph.md5
===================================================================
--- doc/latex/classuimatrix__inherit__graph.md5 (revision 99)
+++ doc/latex/classuimatrix__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+5c0ff9bd9de823dd08c27ba6552a78c1
Index: doc/latex/classmgamma__fix__inherit__graph.md5
===================================================================
--- doc/latex/classmgamma__fix__inherit__graph.md5 (revision 99)
+++ doc/latex/classmgamma__fix__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
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Index: doc/latex/sim__var_8cpp__incl.md5
===================================================================
--- doc/latex/sim__var_8cpp__incl.md5 (revision 99)
+++ doc/latex/sim__var_8cpp__incl.md5 (revision 99)
@@ -0,0 +1,1 @@
+55e2d65866a935154d68d10bebfe4786
Index: doc/latex/classBM.tex
===================================================================
--- doc/latex/classBM.tex (revision 91)
+++ doc/latex/classBM.tex (revision 99)
@@ -77,5 +77,5 @@
 
 
-Implemented in {\bf Kalman$<$ sq\_\-T $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, {\bf KalmanCh} \doxyref{}{p.}{classKalmanCh_cca758192846940409822b9bd778d4e1}, {\bf EKFfull} \doxyref{}{p.}{classEKFfull_8ca46f177e395fa714bbd8bd29ea43e0}, {\bf EKF$<$ sq\_\-T $>$} \doxyref{}{p.}{classEKF_c79c62c9b3e0b56b3aaa1b6f1d9a7af7}, {\bf EKFCh} \doxyref{}{p.}{classEKFCh_96f6edda324a0b7ef8b4e86cc7af60c1}, {\bf PF} \doxyref{}{p.}{classPF_64f636bbd63bea9efd778214e6b631d3}, {\bf MPF$<$ BM\_\-T $>$} \doxyref{}{p.}{classMPF_55daf8e4b6553dd9f47c692de7931623}, {\bf ARX} \doxyref{}{p.}{classARX_ec6ab76ea10fc8c61006e15c7013b1ff}, {\bf EKFfixed} \doxyref{}{p.}{classEKFfixed_ddf5334bc1207658fd53698fffbac028}, {\bf Kalman$<$ ldmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, {\bf Kalman$<$ chmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, and {\bf Kalman$<$ fsqmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}.
+Implemented in {\bf ARX} \doxyref{}{p.}{classARX_ba82c956ca893826811aefe1e4af465d}, {\bf Kalman$<$ sq\_\-T $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, {\bf KalmanCh} \doxyref{}{p.}{classKalmanCh_cca758192846940409822b9bd778d4e1}, {\bf EKFfull} \doxyref{}{p.}{classEKFfull_8ca46f177e395fa714bbd8bd29ea43e0}, {\bf EKF$<$ sq\_\-T $>$} \doxyref{}{p.}{classEKF_c79c62c9b3e0b56b3aaa1b6f1d9a7af7}, {\bf EKFCh} \doxyref{}{p.}{classEKFCh_96f6edda324a0b7ef8b4e86cc7af60c1}, {\bf PF} \doxyref{}{p.}{classPF_64f636bbd63bea9efd778214e6b631d3}, {\bf MPF$<$ BM\_\-T $>$} \doxyref{}{p.}{classMPF_55daf8e4b6553dd9f47c692de7931623}, {\bf EKFfixed} \doxyref{}{p.}{classEKFfixed_ddf5334bc1207658fd53698fffbac028}, {\bf Kalman$<$ ldmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, {\bf Kalman$<$ chmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}, and {\bf Kalman$<$ fsqmat $>$} \doxyref{}{p.}{classKalman_7750ffd73f261828a32c18aaeb65c75c}.
 
 The documentation for this class was generated from the following file:\begin{CompactItemize}
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Index: doc/latex/classuimatrix.tex
===================================================================
--- doc/latex/classuimatrix.tex (revision 99)
+++ doc/latex/classuimatrix.tex (revision 99)
@@ -0,0 +1,76 @@
+\section{uimatrix$<$ T $>$ Class Template Reference}
+\label{classuimatrix}\index{uimatrix@{uimatrix}}
+User info for matrices.  
+
+
+{\tt \#include $<$userinfo.h$>$}
+
+Inheritance diagram for uimatrix$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=59pt]{classuimatrix__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for uimatrix$<$ T $>$:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=74pt]{classuimatrix__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf uimatrix} (std::string com, {\bf uibase} $\ast$par=NULL)\label{classuimatrix_5817e2696f293a751b6690792f3e7aa8}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf getsummary} (std::string \&S)\label{classuimatrix_72da139481128a8fc979cb38b031504c}
+
+\begin{CompactList}\small\item\em returns a summary of its contents (used in dialogs) \item\end{CompactList}\item 
+void {\bf askuser} ()\label{classuimatrix_4b1649ae99267ee98164d4a3d3e3fb05}
+
+\begin{CompactList}\small\item\em interaction with the user \item\end{CompactList}\item 
+void {\bf save} (std::ostream \&os)\label{classuimatrix_8176b9d61acfe32cad75eca372190eb8}
+
+\begin{CompactList}\small\item\em Save to file. \item\end{CompactList}\item 
+void {\bf load} (std::istream \&is)\label{classuimatrix_664307ac6fc483e506b831d80a60b7a8}
+
+\begin{CompactList}\small\item\em load from file \item\end{CompactList}\item 
+void {\bf set\_\-value} (itpp::Mat$<$ T $>$ M0)\label{classuimatrix_cc00f8af1706d634b11458c49a52a7b3}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+virtual bool {\bf isvalid} ()\label{classuibase_e7403110752e92a31db563556124742e}
+
+\begin{CompactList}\small\item\em test if the info is valid \item\end{CompactList}\item 
+int {\bf get\_\-level} ()\label{classuibase_e05d51c68e5e690110208ebad4c0a037}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+itpp::Mat$<$ T $>$ {\bf M}\label{classuimatrix_fd0ae0b8efd7cda2fb043d9a2d67b9e9}
+
+\begin{CompactList}\small\item\em Value. \item\end{CompactList}\item 
+string {\bf name}\label{classuibase_b093af7c0a2a8b9bc3e71c1dc83779c3}
+
+\begin{CompactList}\small\item\em String identifier of a field. \item\end{CompactList}\item 
+string {\bf help}\label{classuibase_4bf69e2353bf0620e0dd714e0d92473a}
+
+\begin{CompactList}\small\item\em Explanation for a user what the field means. \item\end{CompactList}\item 
+{\bf uibase} $\ast$ {\bf parent}\label{classuibase_0b6ae5af990c9edfa34fe9e1ea95afe7}
+
+\begin{CompactList}\small\item\em Possible parent of the userinfo. \item\end{CompactList}\item 
+int {\bf ilevel}\label{classuibase_d903be35ad6f3932eb5d8df8777e0fa1}
+
+\begin{CompactList}\small\item\em Indentation level, i.e. number of parents. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+\subsubsection*{template$<$class T$>$ class uimatrix$<$ T $>$}
+
+User info for matrices. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/userinfo.h\end{CompactItemize}
Index: doc/latex/classmgamma__fix.tex
===================================================================
--- doc/latex/classmgamma__fix.tex (revision 99)
+++ doc/latex/classmgamma__fix.tex (revision 99)
@@ -0,0 +1,92 @@
+\section{mgamma\_\-fix Class Reference}
+\label{classmgamma__fix}\index{mgamma\_\-fix@{mgamma\_\-fix}}
+Gamma random walk around a fixed point.  
+
+
+{\tt \#include $<$libEF.h$>$}
+
+Inheritance diagram for mgamma\_\-fix:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=58pt]{classmgamma__fix__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for mgamma\_\-fix:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=76pt]{classmgamma__fix__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf mgamma\_\-fix} (const {\bf RV} \&{\bf rv}, const {\bf RV} \&{\bf rvc})\label{classmgamma__fix_b92c3d2e5fd0381033a072e5ef3bcf80}
+
+\begin{CompactList}\small\item\em Constructor. \item\end{CompactList}\item 
+void {\bf set\_\-parameters} (double k0, vec ref0, double l0)\label{classmgamma__fix_ec6f846896749e27cb7be9fa48dd1cb1}
+
+\begin{CompactList}\small\item\em Set value of {\tt k}. \item\end{CompactList}\item 
+void {\bf condition} (const vec \&val)\label{classmgamma__fix_6ea3931eec7b7da7b693e45981052460}
+
+\begin{CompactList}\small\item\em Update {\tt ep} so that it represents this \doxyref{mpdf}{p.}{classmpdf} conditioned on {\tt rvc} = cond. \item\end{CompactList}\item 
+void {\bf set\_\-parameters} (double {\bf k})\label{classmgamma_a9d646cf758a70126dde7c48790b6e94}
+
+\begin{CompactList}\small\item\em Set value of {\tt k}. \item\end{CompactList}\item 
+vec {\bf samplecond} (vec \&cond, double \&lik)\label{classmgamma_9f40dc43885085fad8e3d6652b79e139}
+
+\begin{CompactList}\small\item\em Generate one sample of the posterior. \item\end{CompactList}\item 
+mat {\bf samplecond} (vec \&cond, vec \&lik, int n)\label{classmgamma_e9d52749793f40aad85b70c6db4435ae}
+
+\begin{CompactList}\small\item\em Generate matrix of samples of the posterior. \item\end{CompactList}\item 
+virtual double {\bf evalcond} (const vec \&dt, const vec \&cond)\label{classmpdf_80b738ece5bd4f8c4edaee4b38906f91}
+
+\begin{CompactList}\small\item\em Shortcut for conditioning and evaluation of the internal \doxyref{epdf}{p.}{classepdf}. In some cases, this operation can be implemented efficiently. \item\end{CompactList}\item 
+{\bf RV} {\bf \_\-rvc} ()\label{classmpdf_ec9c850305984582548e8deb64f0ffe8}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
+{\bf epdf} \& {\bf \_\-epdf} ()\label{classmpdf_e17780ee5b2cfe05922a6c56af1462f8}
+
+\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+double {\bf l}\label{classmgamma__fix_3f48c09caddc298901ad75fe7c0529f6}
+
+\begin{CompactList}\small\item\em parameter l \item\end{CompactList}\item 
+vec {\bf refl}\label{classmgamma__fix_81ce49029ecc385418619b200dcafeb0}
+
+\begin{CompactList}\small\item\em reference vector \item\end{CompactList}\item 
+{\bf egamma} {\bf epdf}\label{classmgamma_612dbf35c770a780027619aaac2c443e}
+
+\begin{CompactList}\small\item\em Internal \doxyref{epdf}{p.}{classepdf} that arise by conditioning on {\tt rvc}. \item\end{CompactList}\item 
+double {\bf k}\label{classmgamma_43f733cce0245a52363d566099add687}
+
+\begin{CompactList}\small\item\em Constant $k$. \item\end{CompactList}\item 
+vec $\ast$ {\bf \_\-beta}\label{classmgamma_5e90652837448bcc29707e7412f99691}
+
+\begin{CompactList}\small\item\em cache of epdf.beta \item\end{CompactList}\item 
+{\bf RV} {\bf rv}\label{classmpdf_f6687c07ff07d47812dd565368ca59eb}
+
+\begin{CompactList}\small\item\em modeled random variable \item\end{CompactList}\item 
+{\bf RV} {\bf rvc}\label{classmpdf_acb7dda792b3cd5576f39fa3129abbab}
+
+\begin{CompactList}\small\item\em random variable in condition \item\end{CompactList}\item 
+{\bf epdf} $\ast$ {\bf ep}\label{classmpdf_7aa894208a32f3487827df6d5054424c}
+
+\begin{CompactList}\small\item\em pointer to internal \doxyref{epdf}{p.}{classepdf} \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Gamma random walk around a fixed point. 
+
+Mean value, $\mu$, of this density is given by a geometric combination of {\tt rvc} and given fixed point, $p$. $l$ is the coefficient of the geometric combimation \[ \mu = \mu_{t-1} ^{l} p^{1-l}\]
+
+Standard deviation of the random walk is proportional to one $k$-th the mean. This is achieved by setting $\alpha=k$ and $\beta=k/\mu$.
+
+The standard deviation of the walk is then: $\mu/\sqrt(k)$. 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/stat/{\bf libEF.h}\end{CompactItemize}
Index: doc/latex/classmemlog__inherit__graph.md5
===================================================================
--- doc/latex/classmemlog__inherit__graph.md5 (revision 99)
+++ doc/latex/classmemlog__inherit__graph.md5 (revision 99)
@@ -0,0 +1,1 @@
+9e3e7c386511168fc8290aa993e386d8
Index: doc/latex/files.tex
===================================================================
--- doc/latex/files.tex (revision 91)
+++ doc/latex/files.tex (revision 99)
@@ -2,10 +2,11 @@
 Here is a list of all documented files with brief descriptions:\begin{CompactList}
 \item\contentsline{section}{work/mixpp/bdm/\textbf{itpp\_\-ext.h} }{\pageref{itpp__ext_8h}}{}
+\item\contentsline{section}{work/mixpp/bdm/\textbf{osutils.h} }{\pageref{osutils_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/\textbf{userinfo.h} }{\pageref{userinfo_8h}}{}
+\item\contentsline{section}{work/mixpp/bdm/estim/{\bf arx.h} (Bayesian Filtering for generalized autoregressive (\doxyref{ARX}{p.}{classARX}) model )}{\pageref{arx_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/estim/{\bf libKF.h} (Bayesian Filtering for linear Gaussian models (\doxyref{Kalman}{p.}{classKalman} Filter) and extensions )}{\pageref{libKF_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/estim/{\bf libPF.h} (Bayesian Filtering using stochastic sampling (Particle Filters) )}{\pageref{libPF_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/math/{\bf chmat.h} (Matrices in decomposed forms (LDL', LU, UDU', etc) )}{\pageref{chmat_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/math/{\bf libDC.h} (Matrices in decomposed forms (LDL', LU, UDU', etc) )}{\pageref{libDC_8h}}{}
-\item\contentsline{section}{work/mixpp/bdm/stat/{\bf arx.h} (Bayesian Models (bm) that use Bayes rule to learn from observations )}{\pageref{arx_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/stat/{\bf libBM.h} (Bayesian Models (bm) that use Bayes rule to learn from observations )}{\pageref{libBM_8h}}{}
 \item\contentsline{section}{work/mixpp/bdm/stat/{\bf libDS.h} (Common DataSources )}{\pageref{libDS_8h}}{}
@@ -15,4 +16,5 @@
 \item\contentsline{section}{work/mixpp/pmsm/\textbf{iopom.h} }{\pageref{iopom_8h}}{}
 \item\contentsline{section}{work/mixpp/pmsm/\textbf{pmsm.h} }{\pageref{pmsm_8h}}{}
+\item\contentsline{section}{work/mixpp/pmsm/{\bf sim\_\-var.cpp} (Models for synchronous electric drive using IT++ and BDM )}{\pageref{sim__var_8cpp}}{}
 \item\contentsline{section}{work/mixpp/pmsm/simulator\_\-zdenek/\textbf{nastaveni\_\-regulatoru\_\-float.h} }{\pageref{nastaveni__regulatoru__float_8h}}{}
 \item\contentsline{section}{work/mixpp/pmsm/simulator\_\-zdenek/\textbf{regulace.h} }{\pageref{regulace_8h}}{}
Index: doc/latex/classmemlog.tex
===================================================================
--- doc/latex/classmemlog.tex (revision 99)
+++ doc/latex/classmemlog.tex (revision 99)
@@ -0,0 +1,67 @@
+\section{memlog Class Reference}
+\label{classmemlog}\index{memlog@{memlog}}
+Logging into matrices in data format in memory.  
+
+
+{\tt \#include $<$loggers.h$>$}
+
+Inheritance diagram for memlog:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=48pt]{classmemlog__inherit__graph}
+\end{center}
+\end{figure}
+Collaboration diagram for memlog:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=47pt]{classmemlog__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+{\bf memlog} (int maxlen0)\label{classmemlog_e056e819c5a65d4431bfe7955b1efe97}
+
+\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
+void {\bf init} ()\label{classmemlog_b081ef5acb4816e6b5fcb56c19cc7e47}
+
+\begin{CompactList}\small\item\em Initialize storage. \item\end{CompactList}\item 
+void {\bf step} (bool final=false)\label{classmemlog_9ebaf88cda26992f4f50aa13aeafc691}
+
+\begin{CompactList}\small\item\em consider this record to be complete \item\end{CompactList}\item 
+void {\bf logit} (int id, vec v)\label{classmemlog_8d2feeb826f7249e9104d616b5a67144}
+
+\begin{CompactList}\small\item\em log this vector \item\end{CompactList}\item 
+virtual int {\bf add} ({\bf RV} rv, string name=\char`\"{}\char`\"{})\label{classlogger_3d6c6ab580b36619c4010e3ebec55378}
+
+\begin{CompactList}\small\item\em returns an identifier which will be later needed for calling the log() function \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+int {\bf maxlen}\label{classmemlog_4195f322897ededdac66c404b848ced3}
+
+\begin{CompactList}\small\item\em Maximum length of vectors stored in memory. \item\end{CompactList}\item 
+int {\bf ind}\label{classmemlog_3410b4c002636508c43ddcba8d394520}
+
+\begin{CompactList}\small\item\em Currect record to be written. \item\end{CompactList}\item 
+Array$<$ mat $>$ {\bf vectors}\label{classmemlog_f0f5bc7b83539ad102e8f65297852d91}
+
+\begin{CompactList}\small\item\em Storage. \item\end{CompactList}\item 
+Array$<$ {\bf RV} $>$ {\bf entries}\label{classlogger_83eea0cf4fbca59474d015f751f128a7}
+
+\begin{CompactList}\small\item\em RVs of all logged variables. \item\end{CompactList}\item 
+Array$<$ string $>$ {\bf names}\label{classlogger_39cb79e839ca8f8bb9dcbc8c5b9c7786}
+
+\begin{CompactList}\small\item\em Names of logged quantities, e.g. names of algorithm variants. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Logging into matrices in data format in memory. 
+
+More?... 
+
+The documentation for this class was generated from the following file:\begin{CompactItemize}
+\item 
+work/mixpp/bdm/stat/{\bf loggers.h}\end{CompactItemize}
Index: doc/latex/classMPF.tex
===================================================================
--- doc/latex/classMPF.tex (revision 91)
+++ doc/latex/classMPF.tex (revision 99)
@@ -91,5 +91,5 @@
 Marginalized Particle filter. 
 
-Trivial version: proposal \$=\$ parameter evolution, observation model is not used. (it is assumed to be part of \doxyref{BM}{p.}{classBM}). 
+Trivial version: proposal = parameter evolution, observation model is not used. (it is assumed to be part of \doxyref{BM}{p.}{classBM}). 
 
 \subsection{Member Function Documentation}
Index: doc/latex/classmgamma__fix__coll__graph.eps
===================================================================
--- doc/latex/classmgamma__fix__coll__graph.eps (revision 99)
+++ doc/latex/classmgamma__fix__coll__graph.eps (revision 99)
@@ -0,0 +1,598 @@
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Index: doc/latex/libDC_8h.tex
===================================================================
--- doc/latex/libDC_8h.tex (revision 91)
+++ doc/latex/libDC_8h.tex (revision 99)
@@ -19,5 +19,5 @@
 \begin{center}
 \leavevmode
-\includegraphics[width=233pt]{libDC_8h__dep__incl}
+\includegraphics[width=287pt]{libDC_8h__dep__incl}
 \end{center}
 \end{figure}
