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YANE-Framework 1.1.0
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This class estimates initial values of a given model. More...
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. |
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:
LIB_EXPORT yane::Model::StateEstimator::StateEstimator | ( | Model * | model, |
int | maxsensorvalues, | ||
bool * | isParam, | ||
int | max_iter = 20 , |
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double | ode_tol = 1E-10 , |
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double | gn_tol = 1E-5 , |
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double | prec = 1E-5 |
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) |
model | Pointer to a class btmb::Model::Model object of the model under consideration |
maxsensorvalues | maximal amount of available sensors. |
isParam | Array 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_iter | maximum amount of iterations GaussNewton uses. |
ode_tol | Tolerance of the odesolver. |
gn_tol | Tolerance of GaussNewton. |
prec | if the state time of two states differs less than prec, Stateestimator combines the two states. |
LIB_EXPORT void yane::Model::StateEstimator::addControl | ( | double | t, |
double * | u | ||
) |
This function adds a control to the state-vector.
t | Time instant |
u | Control vector |
LIB_EXPORT void yane::Model::StateEstimator::addSensor | ( | double | t, |
double * | x | ||
) |
This function adds a sensor to the state-vector.
t | Time instant |
x | Sensor 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.
t | Time, which is set by Stateestimator to the last sensor time. |
x | Sensor vector with initial values. |