[349] | 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 "pmsm_ui.h" |
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| 10 | #include <stat/loggers_ui.h> |
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| 11 | #include <estim/KF_ui.h> |
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| 12 | |
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| 13 | #include <itpp/itmex.h> |
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| 14 | #include "../../library/mex/mexlog.h" |
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| 15 | #include "../../library/mex/mexds.h" |
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| 16 | #include "../../library/mex/mexparse.h" |
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| 17 | |
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| 18 | using namespace bdm; |
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| 19 | |
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| 20 | void mexFunction ( int n_output, mxArray *output[], int n_input, const mxArray *input[] ) { |
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| 21 | // Check the number of inputs and output arguments |
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| 22 | string fname; |
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| 23 | if (n_input>0){ |
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| 24 | fname=mxArray2string(input[0]); |
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| 25 | } else { |
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| 26 | printf("file name missing"); |
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| 27 | } |
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| 28 | // ------------------ |
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| 29 | |
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| 30 | UIFile F ( fname.c_str()); |
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| 31 | |
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| 32 | logger* L; |
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| 33 | DS * DS; |
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| 34 | Array<BM*> Es; // array of estimators |
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| 35 | int Ndat; //number of data records |
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| 36 | int nE; //number of estimators |
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| 37 | |
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| 38 | try { |
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| 39 | UIbuild ( F.lookup ( "logger" ),L ); |
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| 40 | UIbuild ( F.lookup ( "system" ),DS ); |
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| 41 | F.lookupValue ( "experiment.ndat",Ndat ); |
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| 42 | Setting& S=F.lookup ( "estimator" ); |
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| 43 | nE = S.getLength(); |
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| 44 | Es.set_size(nE); |
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| 45 | for(int i=0;i<nE;i++){ |
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| 46 | UIbuild (S[i] ,Es(i) ); |
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| 47 | } |
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| 48 | } |
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| 49 | catch UICATCH; |
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| 50 | |
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| 51 | DS->log_add ( *L ); |
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| 52 | string nic=""; |
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| 53 | for (int i=0; i<nE; i++){ |
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| 54 | Es(i)->log_add(*L,nic); // estimate |
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| 55 | } |
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| 56 | L->init(); |
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| 57 | |
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| 58 | vec dt=zeros ( DS->_drv()._dsize() ); //data variable |
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| 59 | Array<datalink*> Dls(nE); |
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| 60 | for (int i=0; i<nE; i++){ |
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| 61 | Dls(i)=new datalink( Es(i)->_drv(),DS->_drv() ); //datalink between a datasource and estimator |
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| 62 | } |
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| 63 | |
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| 64 | // Main cycle |
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| 65 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 66 | // Data Source |
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| 67 | DS->step(); // simulator step |
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| 68 | DS->getdata ( dt ); // read data |
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| 69 | DS->logit ( *L ); |
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| 70 | |
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| 71 | // Estimators |
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| 72 | for (int i=0; i<nE; i++){ |
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| 73 | Es(i)->bayes ( Dls(i)->pushdown ( dt ) ); // update estimates |
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| 74 | |
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| 75 | Es(i)->logit (*L); |
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| 76 | } |
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| 77 | // Regulators |
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| 78 | L->step(); |
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| 79 | } |
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| 80 | |
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| 81 | L->finalize(); |
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| 82 | |
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| 83 | // ------------------ End of routine ----------------------------- |
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| 84 | |
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| 85 | mexlog* mL=dynamic_cast<mexlog*>(L); |
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| 86 | |
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| 87 | if (mL) { // user wants output!! |
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| 88 | if ( n_output<1 ) mexErrMsgTxt ( "Wrong number of output variables!" ); |
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| 89 | output[0] = mL->toCell(); |
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| 90 | } |
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| 91 | |
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| 92 | |
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| 93 | delete L; |
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| 94 | delete DS; |
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| 95 | for (int i=0; i<nE; i++){ |
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| 96 | delete Dls(i); |
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| 97 | delete Es(i); |
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| 98 | } |
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| 99 | } |
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