source: projects/ckbs/trunk/test/nonlinear_ok_box_g.m @ 95

Last change on this file since 95 was 35, checked in by bradbell, 11 years ago

Revmove reference to gpl2.txt and further shorten copyright and license statement

File size: 915 bytes
Line 
1% -------------------------------------------------------------------
2% ckbs: Constrained Kalman-Bucy Smoother Program: Copyright (C) 2006
3% Authors: Bradlely Bell:        bradbell at washington dot edu
4%          Gianluigi Pillonetto: giapi at dei dot unipd dot it
5% License: GNU General Public License Version 2
6% -------------------------------------------------------------------
7% $begin nonlinear_ok_box_g.m$$ $newlinech %$$
8%
9% $spell
10%       ckbs
11%       gk
12%       xk
13%       dt
14% $$
15%
16% $section Example Transition Function: nonlinear_ok_box_g$$
17%
18% $head Source Code$$
19% $newlinech $$ $codep
20function [gk, Gk] = nonlinear_ok_box_g(k, xk1)
21        global nonlinear_ok_box_x1
22        global nonlinear_ok_box_dt
23        if k == 1
24                Gk = zeros(4, 4);
25                gk = nonlinear_ok_box_x1;
26                return;
27        end
28        dt = nonlinear_ok_box_dt;
29        Gk = [ ...
30                1  0  0  0
31                dt 1  0  0
32                0  0  1  0
33                0  0  dt 1 ...
34        ];
35        gk = Gk * xk1;
36        return
37end
38% $$ $newlinech %$$
39% $end
Note: See TracBrowser for help on using the repository browser.