# -------------------------------------------------------------------
# ckbs: Constrained Kalman-Bucy Smoother Program: Copyright (C) 2006
# Authors: Bradlely Bell:        bradbell at washington dot edu
#          Gianluigi Pillonetto: giapi at dei dot unipd dot it
# License: GNU General Public License Version 2
# -------------------------------------------------------------------
$begin ckbs$$
$dollar @$$
$rmark !$$
$spell
	Tarballs
	yyyymmdd
	yyyy mm dd
	www http https
	coin-or.org/svn/CoinBazaar
	tarball
	tgz
	xvzf
	cygwin
	ckbs
	Matlab
	xml
$$

$latex \newcommand{\T}{{\rm T}}$$
$latex \newcommand{\R}{{\bf R}}$$


$navigate%
	Across%Index%
	Prev%Previous%
	Next%Next%
	Up%Up%
	Down_up_3%_up_3%
	Down_up_2%_up_2%
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	Current%Headings
%$$

$section ckbs-0.20100302.0: A Constrained Kalman-Bucy Smoother$$

$head MathML$$
This documentation is in XHTML + MathML.
If you have trouble viewing it in your browser see
Viewing MathML on the web page
$pre
	$$
	$href%
		http://www.seanet.com/~bradbell/packages.htm
	%$$

$head System Requirements$$
This constrained Kalman-Bucy smoother runs under both the 
$href%
	http://www.mathworks.com/%
	Matlab!
%$$
and 
$href%
	http://www.gnu.org/software/octave/%
	Octave
%$$
While it will work under MS windows, 
these download instructions are for the Unix operating system.

$head Download$$

$subhead Release Tarballs$$
You can download a tarball release of ckbs from the directory
$pre
	$$
$href%http://www.coin-or.org/download/source/CoinBazaar%$$
$pre
$$
Theses releases are named
$codei%
	ckbs-0.%yyyymmdd%.%r%.%ext%
%$$
where $icode yyyy$$ is the year,
$icode mm$$ is the month,
$icode dd$$ is the day,
$icode r$$ is the release number,
and $icode ext$$ is $code tgz$$ or $code zip$$.
$pre

$$
If $icode ext$$ is $code tgz$$ the command
$codei%
	tar -xvzf ckbs-0.%yyyymmdd%.%r%.tgz
%$$
will create the $codei%ckbs-0.%yyyymmdd%.%r%$$ directory.
$pre

$$
If $icode ext$$ is $code zip$$ the command
$codei%
	unzip ckbs-0.%yyyymmdd%.%r%.zip
%$$
will create the $codei%ckbs-0.%yyyymmdd%.%r%$$ directory.

$subhead Using Subversion$$
For each release listed in the
$href%http://www.coin-or.org/download/source/CoinBazaar%download directory%$$
you can use subversion to download the release with the commands
$codei%
	web="https://projects.coin-or.org/svn/CoinBazaar/projects/ckbs"
	svn checkout @web/releases/0.%yyyymmdd%.%r% ckbs-0.%yyyymmdd%.%r%
%$$
This will create the $codei%ckbs-0.%yyyymmdd%.%r%$$ directory.

$subhead Latest Version$$
You can download the most recent version of ckbs (called the trunk)
using the commands
$codei%
	web="https://projects.coin-or.org/svn/CoinBazaar/projects/ckbs"
	svn checkout @web/trunk ckbs-0.20100302.0
%$$
This will create the $code ckbs-0.20100302.0$$ directory.

$head Test Install$$
Using Matlab! or Octave, to change into the directory
$codei%
	ckbs-0.%yyyymmdd%.%r%/test
%$$
and run the program $code all_ok.m$$.
It will print the test results for all the components of $code ckbs$$.

$head Documentation$$
If you download a release, a copy of the documentation for the release
can be found be viewed in your browser by opening the file
$codei%
	ckbs-0.%yyyymmdd%.%r%/doc/ckbs.xml

%$$
If you download the latest version (the trunk),
a copy of the documentation for this version can 
be built by executing the commands
$codep
	cd ckbs-0.20100302.0 
	./build_doc.sh
$$
You can then view the documentation in your browser by opening the file
$codei%
	ckbs-0.20100302.0/doc/ckbs.xml
%$$

$childtable%
	omh/license.omh%
	src/ckbs_nonlinear.m%
	src/ckbs_affine.m%
	omh/utility.omh%
	test/all_ok.m%
	omh/whatsnew.omh
%$$


$end