KF_ui.h

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#include "libKF.h"
#include <uibuilder.h>

class UIEKF: public UIbuilder {
        public:
        UIEKF():UIbuilder("EKF"){};
        bdmroot* build ( Setting &S ) const {
                diffbifn* IM; UIbuild(S["IM"],IM);
                diffbifn* OM; UIbuild(S["OM"],OM);
                
                //parameters
                EKFCh* E; E=new EKFCh;
                E->set_parameters(IM, OM, diag(getvec(S["dQ"])), diag(getvec(S["dR"])));
                
                //statistics
                int dim=IM->dimension();
                vec mu0;
                mat P0;
                if (S.exists("mu0")){mu0=getvec(S["mu0"]);}else{mu0=zeros(dim);};
                if (S.exists("P0")){mu0=getmat(S["P0"],dim);}else{P0=eye(dim);};
                E->set_statistics(mu0,P0);
                
                //connect
                RV* drv; UIbuild(S["drv"],drv);
                E->set_drv(*drv);
                RV* rv; UIbuild(S["rv"],rv);
                E->set_rv(*rv);
                return E;
        }       
};
UIREGISTER ( UIEKF );

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