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;
                //EKFfull* E; E=new EKFfull;
                
                //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")){P0=getmat(S["P0"],dim);}else{P0=eye(dim);};
                if (S.exists("dP0")){P0=diag(getvec(S["dP0"]));}else{P0=eye(dim);};
                E->set_statistics(mu0,P0);
                
                //parameters
                E->set_parameters(IM, OM, diag(getvec(S["dQ"])), diag(getvec(S["dR"])));

                //connect
                RV* drv; UIbuild(S["drv"],drv);
                E->set_drv(*drv);
                RV* rv; UIbuild(S["rv"],rv);
                E->set_rv(*rv);
                
                if (S.exists("options")){E->set_options(S["options"]);};
                
                return E;
        }       
};
UIREGISTER ( UIEKF );

class UIMultiModel: public UIbuilder {
        public:
                UIMultiModel():UIbuilder("MultiModel"){};
                bdmroot* build ( Setting &S ) const {
                        Array<EKFCh*> A;
                        MultiModel* MM; MM=new MultiModel;
                                
                        Setting& mod=S["models"];
                        A.set_length(mod.getLength());
                        for (int i=0;i<A.length();i++){
                                UIbuild(mod[i], A(i));
                        }
                        
                        MM->set_parameters(A);
                        MM->set_drv(A(0)->_drv());
                        //MM->set_rv(A(0)->_rv());
                
                        if (S.exists("options")){MM->set_options(S["options"]);};
                
                        return MM;
                }       
};
UIREGISTER ( UIMultiModel );

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