\section{EKFfixed Class Reference}
\label{classEKFfixed}\index{EKFfixed@{EKFfixed}}
Extended \doxyref{Kalman}{p.}{classKalman} Filter with full matrices in fixed point arithmetic.  


{\tt \#include $<$ekf\_\-obj.h$>$}

Inheritance diagram for EKFfixed:\nopagebreak
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Collaboration diagram for EKFfixed:\nopagebreak
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\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 with full matrices in fixed point arithmetic. 

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/git/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/{\bf ekf\_\-obj.h}\item 
work/git/mixpp/pmsm/simulator\_\-zdenek/ekf\_\-example/ekf\_\-obj.cpp\end{CompactItemize}
