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Revision 33, 0.6 kB
(checked in by smidl, 16 years ago)
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Oprava PF a MPF + jejich implementace pro pmsm system
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| 1 | #include <itpp/itbase.h> |
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| 2 | #include "libFN.h" |
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| 3 | |
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| 4 | using std::endl; |
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| 5 | |
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| 6 | bilinfn::bilinfn ( const RV &rvx0, const RV &rvu0, const mat &A0, const mat &B0 ) : diffbifn ( rvx0,rvu0 ) |
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| 7 | { |
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| 8 | //check input |
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| 9 | it_assert_debug ( ( A0.cols() ==dimx ) & ( A0.rows() ==B0.rows() ), "linfn:: wrong A" ); |
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| 10 | it_assert_debug ( ( B0.cols() ==dimu ), "linfn:: wrong B" ); |
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| 11 | |
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| 12 | // set dimensions |
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| 13 | dimy = A0.rows(); |
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| 14 | |
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| 15 | //set internals |
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| 16 | A = A0; |
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| 17 | B = B0; |
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| 18 | }; |
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| 19 | |
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| 20 | inline vec bilinfn::eval ( const vec &x0, const vec &u0 ) |
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| 21 | { |
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| 22 | it_assert_debug ( x0.length() ==dimx, "linfn::eval Wrong xcond." ); |
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| 23 | it_assert_debug ( u0.length() ==dimu, "linfn::eval Wrong ucond." ); |
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| 24 | return A*x0+B*u0; |
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| 25 | }; |
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