| 1 | /*! |
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| 2 | \file |
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| 3 | \brief wrapper function for lqg.redesign() |
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| 4 | |
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| 5 | |
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| 6 | */ |
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| 7 | |
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| 8 | #include <design/arx_ctrl.h> |
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| 9 | |
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| 10 | using namespace bdm; |
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| 11 | |
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| 12 | #ifdef MEX |
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| 13 | #include <mex/mex_parser.h> |
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| 14 | |
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| 15 | void mexFunction ( int n_output, mxArray *output[], int n_input, const mxArray *input[] ) { |
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| 16 | // Check the number of inputs and output arguments |
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| 17 | if ( n_input<1 ) mexErrMsgTxt ( |
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| 18 | " LQ controller of the given system according to criteria\n" |
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| 19 | " L = y' Qy y + u' Qu u \n\n" |
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| 20 | "Usage:\n" |
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| 21 | "[vec,rv]=lqg_redesign(system,params)\n" |
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| 22 | " system = struct('class','mlnorm',...); % description of linear Gaussian system \n" |
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| 23 | " params = struct('Qy',[], 'Qu',[], 'yr',[],'horizon', [1]); \n" |
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| 24 | "output:\n" |
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| 25 | " vec vector of the controller.\n" |
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| 26 | " rv varibles in regressor of the controller.\n"); |
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| 27 | |
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| 28 | RV::clear_all(); |
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| 29 | //CONFIG |
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| 30 | if (!mxIsStruct(input[0])) mexErrMsgTxt("Given input is not a struct."); |
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| 31 | if ((n_input<2)||(!mxIsStruct(input[1]))) mexErrMsgTxt("Second parametr is not a structure."); |
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| 32 | |
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| 33 | UImxArray Cfg; |
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| 34 | Cfg.addGroup ( input[0],"system" ); |
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| 35 | Cfg.addGroup ( input[1],"params" ); |
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| 36 | Cfg.writeFile("lqg_redesign.cfg"); |
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| 37 | |
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| 38 | // load stuff |
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| 39 | shared_ptr<mlnorm<chmat> > ml=UI::build<mlnorm<chmat> >(Cfg,"system"); |
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| 40 | if (!ml) {mexErrMsgTxt("Incorrect input #1");} |
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| 41 | |
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| 42 | Setting ¶ms=Cfg.getRoot()["params"]; |
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| 43 | mat Qu; |
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| 44 | mat Qy; |
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| 45 | int horizon; |
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| 46 | vec yr; |
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| 47 | |
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| 48 | UI::get(Qy, params, "Qy",UI::compulsory); |
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| 49 | UI::get(Qu, params, "Qu",UI::compulsory); |
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| 50 | UI::get(yr, params, "yr",UI::compulsory); |
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| 51 | UI::get(horizon, params, "horizon", UI::compulsory); |
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| 52 | |
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| 53 | // set it up |
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| 54 | shared_ptr<StateFromARX> Stsp=new StateFromARX; |
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| 55 | RV xrv; |
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| 56 | RV urv; |
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| 57 | Stsp->connect_mlnorm(*ml,xrv,urv); |
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| 58 | |
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| 59 | LQG lq; |
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| 60 | lq.set_system(Stsp); |
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| 61 | lq.set_control_parameters(Qy,Qu,yr,horizon); |
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| 62 | lq.validate(); |
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| 63 | lq.redesign(); |
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| 64 | |
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| 65 | mat L = lq._L(); |
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| 66 | RV rv = lq._rvc(); |
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| 67 | |
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| 68 | if ( n_output<1 ) mexErrMsgTxt ( "No output - nothing to do!" ); |
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| 69 | output[0] = mxCreateDoubleMatrix(L.rows(),L.cols(), mxREAL); |
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| 70 | mat2mxArray(L, output[0]); |
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| 71 | if (n_output>1){ |
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| 72 | |
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| 73 | UImxArray out; |
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| 74 | UI::save( &rv, out ); |
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| 75 | output[1]= out.create_mxArray(); |
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| 76 | } |
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| 77 | |
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| 78 | } |
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| 79 | #endif |
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