root/applications/doprava/k1.cpp @ 593

/*!
  \file
  \brief Models for synchronous electric drive using IT++ and BDM
  \author Vaclav Smidl.

  -----------------------------------
  BDM++ - C++ library for Bayesian Decision Making under Uncertainty

  Using IT++ for numerical operations
  -----------------------------------
*/


#include <estim/ekf_template.h>

//include dopravni model
#include "model.h"
#include "stat\datasources.h"
#include "stat\loggers.h"

using namespace bdm;

int main( int argc, char* argv[] ) {
/*      const char *fname;
        if ( argc>1 ) {fname = argv[1]; }
        else { fname = "k1.cfg"; }
        UIFile F ( fname ); //protected by exceptions, should complain if not found*/
        
        ITppFileDS DS("data.it","Data");                // Data Source
        int ndat = DS.ndat();                           // number of data
        memlog L(ndat);                                         // Logger
        string resfile="k1_results.it";         // name of output file
        vec dQ="0.1 0.1";
        vec dR="0.2 0.2";                                       // TODO: read from config file <== broken on windows
        
        //model vyvoje stavu
        IMk1 fxu;
        fxu.set_parameters (0.5, 0.5); // pokud nejake budou

        //model pozorovani
        OMk1 hxu;
        //hxu.set_parameters (); // odkomentovat pokud budou

        // ESTIMATOR --- EKF
        // Priprava covariancnich matic pro EKF
        EKFCh Efix;                                                             //Extended KF s fix. variancemi
        Efix.set_parameters ( &fxu,&hxu,diag(dQ),diag(dR));
        Efix.set_statistics ( zeros(fxu.dimension()), 100*eye ( fxu.dimension() )  ); // nulova 

        // Definovat co se bude logovat
        Efix.log_add(L,"E");
        L.init(); // <<==== allocate memory for results
        
        vec dt;
        for ( int t=1;t<ndat;t++ ) {
                DS.getdata(dt);                 // dt is allocated
                Efix.bayes(dt);                 //ESTIMATE

                //LOG results
                Efix.logit(L); 
                
                L.step();
                DS.step();
        }
        L.finalize();
        L.itsave(resfile.c_str());
        return 0;
}