root/applications/bdmtoolbox/mex/lqg_redesign.cpp @ 1383

/*!
\file
\brief wrapper function for lqg.redesign()


 */

#include <design/arx_ctrl.h>

using namespace bdm;

#ifdef MEX
#include <mex/mex_parser.h>

void mexFunction ( int n_output, mxArray *output[], int n_input, const mxArray *input[] ) {
        // Check the number of inputs and output arguments
        if ( n_input<1 ) mexErrMsgTxt ( 
                " LQ controller of the given system according to criteria\n"
                "              L = y' Qy y + u' Qu u \n\n"
                "Usage:\n"
                "[vec,rv]=lqg_redesign(system,params)\n"
                "  system = struct('class','mlnorm',...);  % description of linear Gaussian system \n"
                "  params = struct('Qy',[], 'Qu',[], 'yr',[],'horizon', [1]);  \n"
                "output:\n"
                "  vec  vector of the controller.\n"
                "  rv   varibles in regressor of the controller.\n");

        RV::clear_all();
        //CONFIG
        if (!mxIsStruct(input[0])) mexErrMsgTxt("Given input is not a struct.");
        if ((n_input<2)||(!mxIsStruct(input[1]))) mexErrMsgTxt("Second parametr is not a structure.");
                
        UImxArray Cfg;
        Cfg.addGroup ( input[0],"system" );
        Cfg.addGroup ( input[1],"params" );
//      Cfg.writeFile("lqg_redesign.cfg");

        // load stuff
        shared_ptr<mlnorm<chmat> > ml=UI::build<mlnorm<chmat> >(Cfg,"system");
        if (!ml) {mexErrMsgTxt("Incorrect input #1");}
        
        Setting &params=Cfg.getRoot()["params"];
        mat Qu;
        mat Qy;
        int horizon;
        vec yr;
        
        UI::get(Qy, params, "Qy",UI::compulsory);
        UI::get(Qu, params, "Qu",UI::compulsory);
        UI::get(yr, params, "yr",UI::compulsory);
        UI::get(horizon, params, "horizon", UI::compulsory);
        
                                  // set it up
        shared_ptr<StateFromARX> Stsp=new StateFromARX;
        RV xrv;
        RV urv;
        Stsp->connect_mlnorm(*ml,xrv,urv);
        
        LQG lq;
        lq.set_system(Stsp);
        lq.set_control_parameters(Qy,Qu,yr,horizon);
        lq.validate();
        lq.redesign();
        
        mat L = lq._L();
        RV rv = lq._rvc();
        
        if ( n_output<1 ) mexErrMsgTxt ( "No output - nothing to do!" );
        output[0] = mxCreateDoubleMatrix(L.rows(),L.cols(), mxREAL);
        mat2mxArray(L, output[0]);
        if (n_output>1){

                UImxArray out;
                UI::save( &rv, out );
                output[1]= out.create_mxArray();
        }
                
}
#endif