[357] | 1 | |
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| 2 | /*! |
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| 3 | \file |
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| 4 | \brief Multi-Estimator (developped for PMSM) |
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| 5 | |
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| 6 | |
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| 7 | */ |
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| 8 | |
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| 9 | #include "user_info.h" |
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| 10 | #include "stat/loggers.h" |
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[366] | 11 | #include "estim/libKF.h" |
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| 12 | #include "pmsmDS.h" |
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[357] | 13 | |
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[366] | 14 | |
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[357] | 15 | using namespace bdm; |
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| 16 | int main ( int argc, char* argv[] ) { |
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| 17 | const char *fname; |
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| 18 | if ( argc>1 ) {fname = argv[1]; } |
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| 19 | else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); } |
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| 20 | UI_File F ( fname ); |
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| 21 | |
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| 22 | logger* L = UI::build <logger>( F, "logger" ); |
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| 23 | DS * pDS = UI::build<DS> ( F, "system" ); |
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| 24 | Array<BM*> Es; // array of estimators |
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| 25 | UI::get( Es, F, "estimator" ); |
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| 26 | int nE = Es.length(); //number of estimators |
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| 27 | int Ndat; //number of data records |
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| 28 | F.lookupValue ( "experiment.ndat",Ndat ); |
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| 29 | |
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| 30 | pDS->log_add ( *L ); |
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| 31 | string nic=""; |
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| 32 | for (int i=0; i<nE; i++){ |
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| 33 | Es(i)->log_add(*L,nic); // estimate |
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| 34 | } |
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| 35 | L->init(); |
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| 36 | |
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| 37 | vec dt=zeros ( pDS->_drv()._dsize() ); //data variable |
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| 38 | Array<datalink*> Dls(nE); |
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| 39 | for (int i=0; i<nE; i++){ |
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| 40 | Dls(i)=new datalink( Es(i)->_drv(),pDS->_drv() ); //datalink between a datasource and estimator |
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| 41 | } |
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| 42 | |
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| 43 | // Main cycle |
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| 44 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 45 | // Data Source |
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| 46 | pDS->step(); // simulator step |
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| 47 | pDS->getdata ( dt ); // read data |
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| 48 | pDS->logit ( *L ); |
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| 49 | |
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| 50 | // Estimators |
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| 51 | for (int i=0; i<nE; i++){ |
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| 52 | Es(i)->bayes ( Dls(i)->pushdown ( dt ) ); // update estimates |
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| 53 | |
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| 54 | Es(i)->logit (*L); |
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| 55 | } |
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| 56 | // Regulators |
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| 57 | L->step(); |
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| 58 | } |
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| 59 | |
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| 60 | L->finalize(); |
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| 61 | |
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| 62 | delete L; |
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| 63 | delete pDS; |
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| 64 | for (int i=0; i<nE; i++){ |
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| 65 | delete Dls(i); |
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| 66 | delete Es(i); |
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| 67 | } |
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| 68 | return 0; |
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| 69 | } |
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