YANE-Framework 1.1.0
Public Member Functions

yane::Model::StateEstimator Class Reference

This class estimates initial values of a given model. More...

Collaboration diagram for yane::Model::StateEstimator:
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List of all members.

Public Member Functions

void addControl (double t, double *u)
 This function adds a control to the state-vector.
void addSensor (double t, double *x)
 This function adds a sensor to the state-vector.
void getState (double &t, double *x)
 This function adds a sensor to the state-vector.
 StateEstimator (Model *model, int maxsensorvalues, bool *isParam, int max_iter=20, double ode_tol=1E-10, double gn_tol=1E-5, double prec=1E-5)
 Constructor.
 ~StateEstimator ()
 Destructor.

Detailed Description

StateEstimator This class estimates initial values of a given model. Therefore sensor data and control data is needed.

Adding states (equals sensors and controls) data is restricted by:

Usually this class is used as following:


Constructor & Destructor Documentation

LIB_EXPORT yane::Model::StateEstimator::StateEstimator ( Model model,
int  maxsensorvalues,
bool *  isParam,
int  max_iter = 20,
double  ode_tol = 1E-10,
double  gn_tol = 1E-5,
double  prec = 1E-5 
)
Parameters:
modelPointer to a class btmb::Model::Model object of the model under consideration
maxsensorvaluesmaximal amount of available sensors.
isParamArray to specify the state values that has to be handled as parameters (lacking state values). Dimension of the array is the dimension of the model.
max_itermaximum amount of iterations GaussNewton uses.
ode_tolTolerance of the odesolver.
gn_tolTolerance of GaussNewton.
precif the state time of two states differs less than prec, Stateestimator combines the two states.

Member Function Documentation

LIB_EXPORT void yane::Model::StateEstimator::addControl ( double  t,
double *  u 
)

This function adds a control to the state-vector.

Parameters:
tTime instant
uControl vector
LIB_EXPORT void yane::Model::StateEstimator::addSensor ( double  t,
double *  x 
)

This function adds a sensor to the state-vector.

Parameters:
tTime instant
xSensor vector. Dimension of the array is dim_params.
LIB_EXPORT void yane::Model::StateEstimator::getState ( double &  t,
double *  x 
)

This function adds a sensor to the state-vector.

Parameters:
tTime, which is set by Stateestimator to the last sensor time.
xSensor vector with initial values.