uvsim::LinearModel Class Reference

Linear Model Class. More...

#include <LinearModel.h>

Inherits uvsim::Model.

Inherited by SimpleModel, and uvsim::AhrsErrorDynamics.

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List of all members.

Public Member Functions
	LinearModel (vector< double > *x, vector< double > *u)
virtual	~LinearModel ()
virtual void	print ()
void	size (int m, int n, int p)
void	discretize (double freq, int order)
Public Attributes
matrix< double >	Ac
matrix< double >	Bc
matrix< double >	Ec
matrix< double >	Ad
matrix< double >	Bd
matrix< double >	Ed
matrix< double >	C
matrix< double >	L
int	n
int	m
int	p

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Detailed Description

Linear Model Class.

This class represents a linearirezed system model.

Continous Process Model: dx/dt = Ac*x + Bc*u + Ec*w

Discrete Process Model: x = Ad*x + Bd*u + Ed*w

x : State vector (nx1). u : Input vector (px1). w : Process noise N(0,1), zero mean, var. 1 (nx1). Ac/d : Continous/Discrete transition matrix (nxn). Bc/d : Continous/Discrete input matrix (nxp). Ec/d : Continous/Discrete Process noise matrix. (nxn).

Measurement Model: y = Cx + Lv;

y : Measurement vector (mx1). v : Process noise N(0,1), zero mean, var. 1 (mx1). C : Measurment matrix (mxn). L : Measurement noise matrix (mxm).

Definition at line 46 of file LinearModel.h.

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Constructor & Destructor Documentation

uvsim::LinearModel::LinearModel	(	vector< double > *	x,
		vector< double > *	u
	)

Definition at line 15 of file LinearModel.cc.

uvsim::LinearModel::~LinearModel

(

)

[virtual]

Definition at line 20 of file LinearModel.cc.

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Member Function Documentation

void uvsim::LinearModel::discretize	(	double	freq,
		int	order
	)

Definition at line 54 of file LinearModel.cc.

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void uvsim::LinearModel::print

(

)

[virtual]

Implements uvsim::Model.

Definition at line 24 of file LinearModel.cc.

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void uvsim::LinearModel::size	(	int	m,
		int	n,
		int	p
	)

Definition at line 39 of file LinearModel.cc.

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Member Data Documentation

matrix<double> uvsim::LinearModel::Ac

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::Ad

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::Bc

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::Bd

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::C

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::Ec

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::Ed

Definition at line 53 of file LinearModel.h.

matrix<double> uvsim::LinearModel::L

Definition at line 53 of file LinearModel.h.

int uvsim::LinearModel::m

Definition at line 54 of file LinearModel.h.

int uvsim::LinearModel::n

Definition at line 54 of file LinearModel.h.

int uvsim::LinearModel::p

Definition at line 54 of file LinearModel.h.

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

• /home/jgoppert/Projects/uvsim/uvsim/src/uvsim/dynamics/LinearModel.h
• /home/jgoppert/Projects/uvsim/uvsim/src/uvsim/dynamics/LinearModel.cc