EKF_unQ Class Reference

Extended Kalman filter with unknown Q. More...

Inheritance diagram for EKF_unQ:

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Collaboration diagram for EKF_unQ:

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List of all members.

Public Member Functions
	EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
	Default constructor.
void	condition (const vec &Q0)
	Substitute val for rvc.
	EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
	Default constructor.
void	condition (const vec &Q0)
	Substitute val for rvc.
void	bayes (const vec dt)
	EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
	Default constructor.
void	condition (const vec &Q0)
	Substitute val for rvc.
void	set_parameters (diffbifn *pfxu, diffbifn *phxu, const chmat Q0, const chmat R0)
	Set nonlinear functions for mean values and covariance matrices.
void	set_parameters (const mat &A0, const mat &B0, const mat &C0, const mat &D0, const chmat &R0, const chmat &Q0)
	Set parameters with check of relevance.
void	bayes (const vec &dt)
	Here dt = [yt;ut] of appropriate dimensions.
void	set_est (const vec &mu0, const chmat &P0)
	Set estimate values, used e.g. in initialization.
const epdf &	_epdf () const
	access function
const enorm< chmat > *	_e () const
	Returns a pointer to the epdf representing posterior density on parameters. Use with care!
mat &	__K ()
	access function
vec	_dP ()
	access function
virtual void	bayesB (const mat &Dt)
	Batch Bayes rule (columns of Dt are observations).
virtual double	logpred (const vec &dt) const
vec	logpred_m (const mat &dt) const
	Matrix version of logpred.
virtual epdf *	predictor (const RV &rv) const
	Constructs a predictive density (marginal density on data).
const RV &	_rv () const
	access function
double	_ll () const
	access function
void	set_evalll (bool evl0)
	access function
virtual BM *	_copy_ (bool changerv=false)
const RV &	_rvc () const
	access function
Protected Attributes
diffbifn *	pfxu
	Internal Model f(x,u).
diffbifn *	phxu
	Observation Model h(x,u).
mat	preA
	pre array (triangular matrix)
mat	postA
	post array (triangular matrix)
RV	rvy
	Indetifier of output rv.
RV	rvu
	Indetifier of exogeneous rv.
int	dimx
	cache of rv.count()
int	dimy
	cache of rvy.count()
int	dimu
	cache of rvu.count()
mat	A
	Matrix A.
mat	B
	Matrix B.
mat	C
	Matrix C.
mat	D
	Matrix D.
chmat	Q
	Matrix Q in square-root form.
chmat	R
	Matrix R in square-root form.
enorm< chmat >	est
	posterior density on $x_t$
enorm< chmat >	fy
	preditive density on $y_t$
mat	_K
	placeholder for Kalman gain
vec &	_yp
	cache of fy.mu
chmat &	_Ry
	cache of fy.R
vec &	_mu
	cache of est.mu
chmat &	_P
	cache of est.R
RV	rv
	Random variable of the posterior.
double	ll
	Logarithm of marginalized data likelihood.
bool	evalll
	If true, the filter will compute likelihood of the data record and store it in ll . Set to false if you want to save computational time.
RV	rvc
	Identificator of the conditioning variable.

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Detailed Description

Extended Kalman filter with unknown Q.

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Member Function Documentation

virtual double bdm::BM::logpred

(

const vec &

dt

)

const [inline, virtual, inherited]

Evaluates predictive log-likelihood of the given data record I.e. marginal likelihood of the data with the posterior integrated out.

Reimplemented in bdm::ARX, bdm::MixEF, and bdm::multiBM.

Referenced by bdm::BM::logpred_m().

virtual BM* bdm::BM::_copy_

(

bool

changerv = false

)

[inline, virtual, inherited]

Copy function required in vectors, Arrays of BM etc. Have to be DELETED manually! Prototype: BM* _copy_(){BM Tmp*=new Tmp(this*); return Tmp; }

Reimplemented in bdm::ARX, and bdm::BMEF.

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The documentation for this class was generated from the following files:

• pmsm_sim.cpp
• pmsm_sim2.cpp
• pmsm_unkQpf.cpp