[1380] | 1 | #include "mpf_double.h" |
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| 2 | #include "math.h" |
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| 3 | #include <stdio.h> |
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[1439] | 4 | //#include <libconfig/lib/grammar.y> |
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[1380] | 5 | |
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[1439] | 6 | static floatx om[N]; |
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| 7 | static floatx Pt[N]; |
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| 8 | static floatx sth[N]; |
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| 9 | static floatx cth[N]; |
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| 10 | static floatx isdm[N]; |
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| 11 | static floatx isqm[N]; |
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| 12 | static floatx th[N]; |
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| 13 | static floatx w[N]; |
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| 14 | static floatx lwi[N]; |
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[1380] | 15 | |
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[1439] | 16 | static floatx qth; |
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| 17 | static floatx qom; |
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| 18 | static floatx r; |
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[1380] | 19 | |
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[1439] | 20 | |
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[1380] | 21 | #define MAXrand 100 |
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| 22 | #define MAXrandn 100 |
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[1439] | 23 | static const floatx RArandu[MAXrand]={0.8147, 0.9058, 0.1270, 0.9134, 0.6324, 0.0975, 0.2785, 0.5469, 0.9575, 0.9649, |
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[1380] | 24 | 0.1576, 0.9706, 0.9572, 0.4854, 0.8003, 0.1419, 0.4218, 0.9157, 0.7922, 0.9595, 0.6557, 0.0357, |
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| 25 | 0.8491, 0.9340, 0.6787, 0.7577, 0.7431, 0.3922, 0.6555, 0.1712, 0.7060, 0.0318, 0.2769, 0.0462, |
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| 26 | 0.0971, 0.8235, 0.6948, 0.3171, 0.9502, 0.0344, 0.4387, 0.3816, 0.7655, 0.7952, 0.1869, 0.4898, |
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| 27 | 0.4456, 0.6463, 0.7094, 0.7547, 0.2760, 0.6797, 0.6551, 0.1626, 0.1190, 0.4984, 0.9597, 0.3404, |
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| 28 | 0.5853, 0.2238, 0.7513, 0.2551, 0.5060, 0.6991, 0.8909, 0.9593, 0.5472, 0.1386, 0.1493, 0.2575, |
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| 29 | 0.8407, 0.2543, 0.8143, 0.2435, 0.9293, 0.3500, 0.1966, 0.2511, 0.6160, 0.4733, 0.3517, 0.8308, |
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| 30 | 0.5853, 0.5497, 0.9172, 0.2858, 0.7572, 0.7537, 0.3804, 0.5678, 0.0759, 0.0540, 0.5308, 0.7792, |
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| 31 | 0.9340, 0.1299, 0.5688, 0.4694, 0.0119, 0.3371 |
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| 32 | }; |
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[1439] | 33 | static const floatx *randu_i=&RArandu[0]; |
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| 34 | const static floatx *randu_last=&RArandu[MAXrand-1]; |
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[1380] | 35 | |
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[1439] | 36 | static const floatx RArandn[MAXrandn]={ |
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[1380] | 37 | 0.6353, -0.6313, -1.0181, 0.4801, 0.4855, 0.9901, -0.5412, -1.0290, 1.0641, -0.0132, |
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| 38 | -0.6014, -2.3252, -0.1821, 0.6682, -0.0050, 0.2189, -1.3335, 0.2431, -0.2454, -0.5803, |
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| 39 | 0.5512, -1.2316, 1.5210, -0.0783, -0.2762, 0.2617, 1.0727, -1.2566, -1.5175, 2.1363, |
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| 40 | -1.0998, 1.0556, -0.0384, 0.8892, 1.2765, 1.2134, -0.7121, -0.3472, 0.0097, -0.2576, |
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| 41 | 0.0860, -0.1132, 1.2274, 2.3093, 1.8634, -0.2747, -0.0113, -0.9414, 0.0714, -1.4095, |
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| 42 | -2.0046, 0.3792, -0.6962, 0.5246, -0.5226, -0.1331, -0.0008, -1.1746, 0.3165, 1.7701, |
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| 43 | -0.4931, 0.9442, 0.0075, -0.0118, 0.1034, -1.2705, -0.2494, -1.0211, 0.4998, 0.3255, |
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| 44 | 0.4620, -2.1204, -0.7829, 0.9131, -0.8076, -1.6636, 0.3966, -0.4017, 1.2781, -1.1190, |
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| 45 | -0.3210, -0.6447, 0.5869, 0.0559, 0.6804, -0.7036, -0.2640, 0.1737, -0.5478, 0.6204, |
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| 46 | 1.2366, -0.7043, -0.2512, -1.1071, -2.3646, 0.2809, -1.6640, -0.1161, 0.2608, 1.2698 |
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| 47 | }; |
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[1439] | 48 | static const floatx *randn_i=&RArandn[0]; |
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| 49 | const static floatx *randn_last=&RArandn[MAXrandn-1]; |
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[1380] | 50 | |
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[1439] | 51 | floatx qrandu() { |
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[1380] | 52 | if ( randu_i==randu_last ) |
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| 53 | randu_i =&RArandu[0]; |
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| 54 | else |
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| 55 | randu_i++; |
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| 56 | |
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| 57 | return *randu_i; |
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| 58 | } |
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| 59 | |
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[1439] | 60 | floatx qrandn() { |
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[1380] | 61 | if ( randn_i==randn_last ) |
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| 62 | randn_i =&RArandn[0]; |
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| 63 | else |
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| 64 | randn_i++; |
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| 65 | |
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| 66 | return *randn_i; |
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| 67 | } |
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| 68 | |
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| 69 | void resample() { |
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| 70 | int N_babies[N]; |
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[1439] | 71 | floatx cumdist; |
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[1380] | 72 | int i; |
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[1439] | 73 | floatx ui; |
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| 74 | int i_from=0; |
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| 75 | int i_to=0; |
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[1380] | 76 | |
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[1439] | 77 | floatx u0 = qrandu(); |
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[1380] | 78 | |
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| 79 | int j=0; |
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| 80 | N_babies[0]=0; |
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| 81 | cumdist = w[0]; |
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| 82 | for ( i = 0; i < N; i++ ) { |
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| 83 | ui = ( i + u0 ) / N; |
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| 84 | while ( ui > cumdist ) { |
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| 85 | j++; |
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| 86 | N_babies[j]=0; |
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| 87 | cumdist+=w[j]; |
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| 88 | } |
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| 89 | N_babies [j] ++; |
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| 90 | } |
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| 91 | while (j++<=(N-1)) { // delete all N_babies after j |
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| 92 | N_babies[j]=0; |
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| 93 | } |
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| 94 | |
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| 95 | // COPY |
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[1439] | 96 | |
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[1380] | 97 | while ( i_from<N ) { |
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| 98 | while ( N_babies[i_from]>1 ) { // 1 baby stays where it is |
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| 99 | |
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| 100 | while ( N_babies[i_to]>=1 ) i_to++; // find first empty slot |
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| 101 | |
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| 102 | //copy it |
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| 103 | Pt[i_to]=Pt[i_from]; |
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| 104 | om[i_to]=om[i_from]; |
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| 105 | th[i_to]=th[i_from]; |
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| 106 | isdm[i_to]=isdm[i_from]; |
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| 107 | isqm[i_to]=isqm[i_from]; |
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| 108 | |
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| 109 | N_babies[i_to]++; |
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| 110 | N_babies[i_from]--; |
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| 111 | } |
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| 112 | i_from++; |
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| 113 | } |
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| 114 | } |
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| 115 | |
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[1439] | 116 | void mpf_bayes ( const floatx isa, const floatx isb , const floatx usa, const floatx usb ) { |
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[1380] | 117 | |
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[1439] | 118 | floatx isd; |
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| 119 | floatx isq; |
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| 120 | floatx usd; |
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| 121 | floatx usq; |
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[1380] | 122 | |
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[1439] | 123 | floatx Cd; |
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| 124 | floatx Cq; |
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| 125 | floatx CC; |
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| 126 | floatx oCC; |
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[1380] | 127 | |
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[1439] | 128 | floatx difid; |
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| 129 | floatx difiq; |
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[1380] | 130 | |
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[1439] | 131 | floatx zeta; |
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| 132 | floatx Kd; |
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| 133 | floatx Kq; |
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| 134 | floatx ro; |
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| 135 | floatx ypd; |
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| 136 | floatx ypq; |
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| 137 | floatx detRy; |
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| 138 | floatx ydiffd; |
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| 139 | floatx ydiffq; |
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| 140 | floatx ydC; |
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[1380] | 141 | |
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[1439] | 142 | floatx maxlwi, sumlwi; |
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[1380] | 143 | int i; |
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[1439] | 144 | |
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| 145 | floatx *th_i, *Pt_i, *om_i, *isdm_i, *isqm_i; |
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| 146 | floatx *w_i, *lw_i; |
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| 147 | floatx *sth_i, *cth_i; |
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[1380] | 148 | // implementation starts here |
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[1439] | 149 | th_i = &th[0]; |
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| 150 | Pt_i = &Pt[0]; |
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| 151 | om_i = &om[0]; |
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| 152 | isdm_i = &isdm[0]; |
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| 153 | isqm_i = &isqm[0]; |
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| 154 | sth_i = &sth[0]; |
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| 155 | cth_i = &cth[0]; |
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[1380] | 156 | for ( i=0; i<N; i++ ) { |
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| 157 | |
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[1439] | 158 | // time update |
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| 159 | *Pt_i = 1.0*1.0*(*Pt_i)+qom; // Pt is now predictive variance |
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| 160 | *th_i += *om_i*_dt+qth * qrandn() ; |
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| 161 | while ( *th_i>M_PI ) *th_i -=2*M_PI; |
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| 162 | while ( *th_i<-M_PI ) *th_i+=2*M_PI; |
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[1380] | 163 | |
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[1439] | 164 | *sth_i=sin ( *th_i ); |
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| 165 | *cth_i=cos ( *th_i ); |
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| 166 | |
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| 167 | isd = *cth_i*isa+*sth_i*isb; |
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| 168 | isq = -*sth_i*isa+*cth_i*isb; |
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| 169 | // process old voltage |
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| 170 | usd = (*cth_i)*usa+(*sth_i)*usb; |
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| 171 | usq = -(*sth_i)*usa+(*cth_i)*usb; |
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[1380] | 172 | |
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| 173 | Cd = isq*_dt; |
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| 174 | Cq = -_b - isd* _dt; |
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| 175 | |
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[1439] | 176 | difid=isd- _ad * (*isdm_i) - _cd *(usd); |
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| 177 | difiq=isq- _aq * (*isqm_i) - _cq *(usq); |
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[1380] | 178 | |
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| 179 | CC=Cd*Cd+Cq*Cq; |
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[1439] | 180 | zeta = *Pt_i/ ( r+*Pt_i*CC ); |
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[1380] | 181 | oCC = ( 1-zeta*CC ); |
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| 182 | ro = oCC/r; |
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| 183 | |
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[1439] | 184 | Kd = *Pt_i*Cd*ro; |
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| 185 | Kq = *Pt_i*Cq*ro; |
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[1380] | 186 | |
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[1439] | 187 | (*Pt_i)=(*Pt_i)*( 1.0- ( Kd*Cd+Kq*Cq ) ); |
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[1380] | 188 | |
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[1439] | 189 | ypd = Cd**om_i; |
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| 190 | ypq = Cq**om_i; |
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[1380] | 191 | |
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[1439] | 192 | //detRy = ro/r; |
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| 193 | *om_i += Kd* ( difid - ypd ) +Kq* ( difiq-ypq ); |
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[1380] | 194 | ydiffd = ( ypd-difid ); |
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| 195 | ydiffq = ( ypq-difiq ); |
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| 196 | ydC = ydiffd*Cd + ydiffq*Cq; |
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| 197 | |
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[1439] | 198 | //lwi[i] = 0.5* ( log ( detRy ) + ( ydC*ydC*zeta -(ydiffd*ydiffd+ydiffq*ydiffq) ) /r ) ; |
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| 199 | lwi[i] = 0.5*( ydC*ydC*zeta -(ydiffd*ydiffd+ydiffq*ydiffq) ) /r ; |
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[1380] | 200 | |
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[1439] | 201 | *isdm_i=isd; |
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| 202 | *isqm_i=isq; |
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| 203 | |
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| 204 | // shift all counters |
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| 205 | th_i++; |
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| 206 | Pt_i++; |
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| 207 | om_i++; |
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| 208 | isdm_i++; |
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| 209 | isqm_i++; |
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| 210 | sth_i++; |
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| 211 | cth_i++; |
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| 212 | |
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[1380] | 213 | } |
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| 214 | maxlwi=-1e10; |
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[1439] | 215 | lw_i = &lwi[0]; |
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| 216 | for ( i=0;i<N;i++,lw_i++ ) { |
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| 217 | if ( *lw_i>maxlwi ) maxlwi=*lw_i; |
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[1380] | 218 | } |
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[1439] | 219 | lw_i = &lwi[0]; |
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| 220 | w_i = &w[0]; |
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| 221 | for ( i=0;i<N;i++,lw_i++,w_i++ ) { |
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| 222 | *lw_i-=maxlwi; |
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| 223 | (*w_i)=exp ( *lw_i ); // always resample -> wmin=1/n; |
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| 224 | } |
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[1380] | 225 | |
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| 226 | sumlwi=0.0; |
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[1439] | 227 | w_i = &w[0]; |
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| 228 | for ( i=0;i<N;i++,w_i++ ) sumlwi+=*w_i; |
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| 229 | w_i = &w[0]; |
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| 230 | for ( i=0;i<N;i++,w_i++ ) *w_i/=sumlwi; |
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| 231 | |
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| 232 | // NEFF |
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| 233 | floatx sw2=0.0; |
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| 234 | for ( i=0;i<N;i++ ) sw2+=w[i]*w[i]; |
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| 235 | printf("%f\n",1./sw2*N); |
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| 236 | |
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[1380] | 237 | resample(); |
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| 238 | } |
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| 239 | |
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| 240 | |
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[1439] | 241 | void mpf_init(floatx qom0, floatx qth0, floatx r0) { |
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| 242 | int i; |
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[1380] | 243 | r=r0; |
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| 244 | qth=qth0; |
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| 245 | qom=qom0; |
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[1439] | 246 | |
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[1380] | 247 | for ( i=0; i<N; i++ ) { |
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[1439] | 248 | th[i]=qrandu() *2*M_PI - M_PI; |
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| 249 | sth[i]=sin ( th[i] ); |
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| 250 | cth[i]=cos ( th[i] ); |
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| 251 | |
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[1380] | 252 | om[i]=0; |
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[1439] | 253 | Pt[i]=10.; |
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[1380] | 254 | isdm[i]=0; |
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| 255 | isqm[i]=0; |
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| 256 | w[i]=1.0/N; |
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| 257 | } |
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| 258 | |
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| 259 | } |
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[1439] | 260 | void mpf_mean ( floatx *Ecosth, floatx *Esinth, floatx *Eome ) { |
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[1380] | 261 | int i; |
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[1381] | 262 | *Ecosth=0.0; |
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| 263 | *Esinth=0.0; |
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| 264 | *Eome=0.0; |
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[1380] | 265 | for ( i=0;i<N;i++ ) { |
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[1381] | 266 | *Ecosth+=(w[i]*(cth[i])); |
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| 267 | *Esinth+=(w[i]*(sth[i])); |
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| 268 | *Eome+=(w[i]*(om[i])); |
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[1380] | 269 | } |
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| 270 | |
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| 271 | } |
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[1439] | 272 | void mpf_th(floatx th1[N]){ |
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| 273 | int i; |
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| 274 | for (i=0;i<N;i++) th1[i]=th[i]; |
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[1380] | 275 | } |
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[1438] | 276 | |
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[1439] | 277 | floatx kalman_om( const floatx isa, const floatx isb , const floatx usa, const floatx usb, const floatx th ) { |
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[1438] | 278 | |
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[1439] | 279 | floatx isd; |
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| 280 | floatx isq; |
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| 281 | floatx usd; |
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| 282 | floatx usq; |
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[1438] | 283 | |
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[1439] | 284 | floatx Cd; |
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| 285 | floatx Cq; |
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| 286 | floatx CC; |
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| 287 | floatx oCC; |
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[1438] | 288 | |
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[1439] | 289 | floatx difid; |
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| 290 | floatx difiq; |
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[1438] | 291 | |
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[1439] | 292 | floatx zeta; |
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| 293 | floatx Kd; |
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| 294 | floatx Kq; |
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| 295 | floatx ro; |
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| 296 | floatx ypd; |
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| 297 | floatx ypq; |
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| 298 | floatx detRy; |
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| 299 | floatx ydiffd; |
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| 300 | floatx ydiffq; |
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| 301 | floatx ydC; |
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[1438] | 302 | |
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[1439] | 303 | static floatx Pt; |
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| 304 | static floatx om; |
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| 305 | floatx cth, sth; |
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| 306 | static floatx isdm, isqm; |
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[1438] | 307 | |
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| 308 | |
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| 309 | Pt = 1.0*1.0*Pt+qom; // Pt is now predictive variance |
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| 310 | //while ( th>M_PI ) th=th-2*M_PI; |
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| 311 | //while ( th<-M_PI ) th=th+2*M_PI; |
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| 312 | |
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| 313 | sth=sin ( th ); |
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| 314 | cth=cos ( th ); |
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| 315 | |
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| 316 | isd = cth*isa+sth*isb; |
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| 317 | isq = -sth*isa+cth*isb; |
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| 318 | usd = cth*usa+sth*usb; |
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| 319 | usq = -sth*usa+cth*usb; |
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| 320 | |
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| 321 | Cd = isq*_dt; |
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| 322 | Cq = -_b - isd* _dt; |
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| 323 | |
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| 324 | difid=isd- _ad *isdm - _cd *usd; |
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| 325 | difiq=isq- _aq *isqm - _cq *usq; |
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| 326 | |
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| 327 | CC=Cd*Cd+Cq*Cq; |
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| 328 | zeta = Pt/ ( r+Pt*CC ); |
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| 329 | oCC = ( 1-zeta*CC ); |
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| 330 | ro = oCC/r; |
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| 331 | |
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| 332 | Kd = Pt*Cd*ro; |
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| 333 | Kq = Pt*Cq*ro; |
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| 334 | |
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| 335 | Pt=Pt* ( 1- ( Kd*Cd+Kq*Cq ) ); |
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| 336 | |
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| 337 | ypd = Cd*om; |
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| 338 | ypq = Cq*om; |
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| 339 | |
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| 340 | detRy = ro/r; |
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| 341 | om = om + Kd* ( difid - ypd ) +Kq* ( difiq-ypq ); |
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| 342 | ydiffd = ( ypd-difid ); |
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| 343 | ydiffq = ( ypq-difiq ); |
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| 344 | ydC = ydiffd*Cd + ydiffq*Cq; |
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| 345 | |
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| 346 | isdm=isd; |
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| 347 | isqm=isq; |
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| 348 | |
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| 349 | return om; |
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| 350 | } |
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