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1<?xml version='1.0' encoding='UTF-8' standalone='no'?>
2<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
3  <compounddef id="pmsm__sim2_8cpp" kind="file">
4    <compoundname>pmsm_sim2.cpp</compoundname>
5    <includes local="no">itpp/itbase.h</includes>
6    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
7    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
8    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
9    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
10    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
11    <includes refid="simulator_8h" local="yes">simulator.h</includes>
12    <includes refid="sim__profiles_8h" local="yes">sim_profiles.h</includes>
13    <incdepgraph>
14      <node id="610">
15        <label>sim_profiles.h</label>
16        <link refid="sim__profiles_8h-source"/>
17      </node>
18      <node id="607">
19        <label>stat/loggers.h</label>
20        <link refid="loggers_8h"/>
21        <childnode refid="598" relation="include">
22        </childnode>
23        <childnode refid="601" relation="include">
24        </childnode>
25        <childnode refid="604" relation="include">
26        </childnode>
27      </node>
28      <node id="601">
29        <label>libBM.h</label>
30        <link refid="libBM_8h"/>
31        <childnode refid="598" relation="include">
32        </childnode>
33      </node>
34      <node id="609">
35        <label>simulator.h</label>
36        <link refid="simulator_8h-source"/>
37      </node>
38      <node id="608">
39        <label>pmsm.h</label>
40        <link refid="pmsm_8h-source"/>
41        <childnode refid="600" relation="include">
42        </childnode>
43      </node>
44      <node id="604">
45        <label>../itpp_ext.h</label>
46        <link refid="itpp__ext_8h-source"/>
47        <childnode refid="598" relation="include">
48        </childnode>
49      </node>
50      <node id="602">
51        <label>../stat/libEF.h</label>
52        <link refid="libEF_8h"/>
53        <childnode refid="598" relation="include">
54        </childnode>
55        <childnode refid="603" relation="include">
56        </childnode>
57        <childnode refid="601" relation="include">
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59        <childnode refid="604" relation="include">
60        </childnode>
61      </node>
62      <node id="606">
63        <label>estim/libPF.h</label>
64        <link refid="libPF_8h"/>
65        <childnode refid="598" relation="include">
66        </childnode>
67        <childnode refid="602" relation="include">
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69        <childnode refid="603" relation="include">
70        </childnode>
71      </node>
72      <node id="600">
73        <label>../stat/libFN.h</label>
74        <link refid="libFN_8h-source"/>
75        <childnode refid="598" relation="include">
76        </childnode>
77        <childnode refid="601" relation="include">
78        </childnode>
79      </node>
80      <node id="598">
81        <label>itpp/itbase.h</label>
82      </node>
83      <node id="605">
84        <label>../math/chmat.h</label>
85        <link refid="chmat_8h"/>
86        <childnode refid="598" relation="include">
87        </childnode>
88        <childnode refid="603" relation="include">
89        </childnode>
90        <childnode refid="604" relation="include">
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93      <node id="597">
94        <label>work/git/mixpp/pmsm/pmsm_sim2.cpp</label>
95        <link refid="pmsm_sim2.cpp"/>
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114        <label>estim/libKF.h</label>
115        <link refid="libKF_8h"/>
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118        <childnode refid="600" relation="include">
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125      <node id="603">
126        <label>../math/libDC.h</label>
127        <link refid="libDC_8h"/>
128        <childnode refid="598" relation="include">
129        </childnode>
130      </node>
131    </incdepgraph>
132    <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass>
133    <innerclass refid="classEKF__unQful" prot="public">EKF_unQful</innerclass>
134      <sectiondef kind="func">
135      <memberdef kind="function" id="pmsm__sim2_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
136        <type>int</type>
137        <definition>int main</definition>
138        <argsstring>()</argsstring>
139        <name>main</name>
140        <briefdescription>
141        </briefdescription>
142        <detaileddescription>
143        </detaileddescription>
144        <inbodydescription>
145        </inbodydescription>
146        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="69" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="69" bodyend="151"/>
147      </memberdef>
148      </sectiondef>
149    <briefdescription>
150    </briefdescription>
151    <detaileddescription>
152    </detaileddescription>
153    <programlisting>
154<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
155<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
156<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
157<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
158<codeline lineno="5"><highlight class="comment"></highlight></codeline>
159<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
160<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
161<codeline lineno="8"><highlight class="comment"></highlight></codeline>
162<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
163<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
164<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
165<codeline lineno="12"><highlight class="normal"></highlight></codeline>
166<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
167<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
168<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
169<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
170<codeline lineno="17"><highlight class="normal"></highlight></codeline>
171<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
172<codeline lineno="19"><highlight class="normal"></highlight></codeline>
173<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
174<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
175<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;sim_profiles.h&quot;</highlight><highlight class="normal"></highlight></codeline>
176<codeline lineno="23"><highlight class="normal"></highlight></codeline>
177<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
178<codeline lineno="26"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
179<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
180<codeline lineno="29" refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" kindref="member" tooltip="Default constructor.">EKF_unQ</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
181<codeline lineno="30" refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
182<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>Q0,0<sp/>);</highlight></codeline>
183<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
184<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
185<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
186<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>bayes(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>dt){</highlight></codeline>
187<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFCh::bayes</ref>(dt);</highlight></codeline>
188<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
189<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtrue(4);</highlight></codeline>
190<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
191<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(0)=x[0];</highlight></codeline>
192<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(1)=x[1];</highlight></codeline>
193<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(2)=x[2];</highlight></codeline>
194<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(3)=x[3];</highlight></codeline>
195<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
196<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>4<sp/>*<sp/>1.83787706640935<sp/>+<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1b504ca818203b13e667cb3c503980382" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/>+<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref>(xtrue));</highlight></codeline>
197<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
198<codeline lineno="47"><highlight class="normal">};</highlight></codeline>
199<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">EKF_unQful<sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
200<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
201<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQful<sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
202<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
203<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=diag(Q0);</highlight></codeline>
204<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
205<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>dt){</highlight></codeline>
206<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFfull::bayes</ref>(dt);</highlight></codeline>
207<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
208<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtrue(4);</highlight></codeline>
209<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
210<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(0)=x[0];</highlight></codeline>
211<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(1)=x[1];</highlight></codeline>
212<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(2)=x[2];</highlight></codeline>
213<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(3)=x[3];</highlight></codeline>
214<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
215<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">BM::ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>4<sp/>*<sp/>1.83787706640935<sp/>+log(det(P))<sp/>+xtrue*<sp/>(<sp/>inv(P)*xtrue<sp/>)<sp/>);</highlight></codeline>
216<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
217<codeline lineno="67"><highlight class="normal">};</highlight></codeline>
218<codeline lineno="68"><highlight class="normal"></highlight></codeline>
219<codeline lineno="69"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
220<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
221<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
222<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
223<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
224<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npart<sp/>=<sp/>50;</highlight></codeline>
225<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
226<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L(</highlight><highlight class="stringliteral">&quot;exp/pmsm_sim2&quot;</highlight><highlight class="normal">,1000);</highlight></codeline>
227<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
228<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline>
229<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
230<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
231<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
232<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline>
233<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
234<codeline lineno="84"><highlight class="normal"></highlight></codeline>
235<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
236<codeline lineno="86"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/>&quot;0.01<sp/>0.01<sp/>0.01<sp/>0.0001&quot;<sp/>);<sp/>//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
237<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;10<sp/>10<sp/>10<sp/>0.001&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
238<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
239<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
240<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
241<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
242<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
243<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
244<codeline lineno="94"><highlight class="normal"></highlight></codeline>
245<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{Q}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;4&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
246<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQful<sp/>KFEp<sp/>(<sp/>rx,ry,ru,rQ<sp/>);</highlight></codeline>
247<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_est<sp/>(<sp/>mu0,<sp/><sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>);</highlight></codeline>
248<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,diag(Qdiag),diag(Rdiag)<sp/>);</highlight></codeline>
249<codeline lineno="99"><highlight class="normal"></highlight></codeline>
250<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma__fix" kindref="compound" tooltip="Gamma random walk around a fixed point.">mgamma_fix</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline>
251<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKF_unQful&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFEp<sp/>);</highlight></codeline>
252<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline>
253<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1000.0<sp/>,Qdiag,<sp/>0.5);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
254<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/>Qdiag<sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline>
255<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
256<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
257<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>100000.0,<sp/>Qdiag,<sp/>0.9999<sp/>);</highlight></codeline>
258<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
259<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
260<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
261<codeline lineno="111"><highlight class="normal"></highlight></codeline>
262<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>X_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal">);</highlight></codeline>
263<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Efix_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;XF&quot;</highlight><highlight class="normal">);</highlight></codeline>
264<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>tmp=concat(rQ,rx);</highlight></codeline>
265<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>M_log<sp/>=<sp/>L.add(tmp,</highlight><highlight class="stringliteral">&quot;M&quot;</highlight><highlight class="normal">);</highlight></codeline>
266<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
267<codeline lineno="117"><highlight class="normal"></highlight></codeline>
268<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
269<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
270<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww=0.0;</highlight></codeline>
271<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
272<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
273<codeline lineno="123"><highlight class="normal"></highlight></codeline>
274<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
275<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
276<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
277<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
278<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sim_profile_steps1(Ww);</highlight></codeline>
279<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
280<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
281<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>collect<sp/>data</highlight><highlight class="normal"></highlight></codeline>
282<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
283<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
284<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
285<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
286<codeline lineno="136"><highlight class="normal"></highlight></codeline>
287<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
288<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
289<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
290<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
291<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(X_log,<sp/><sp/>vec(x,4));<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
292<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(Efix_log,<sp/>KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
293<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(M_log,<sp/><sp/>Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
294<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
295<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step();</highlight></codeline>
296<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
297<codeline lineno="147"><highlight class="normal"></highlight></codeline>
298<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize();<sp/></highlight></codeline>
299<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
300<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
301<codeline lineno="151"><highlight class="normal">}</highlight></codeline>
302<codeline lineno="152"><highlight class="normal"></highlight></codeline>
303    </programlisting>
304    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp"/>
305  </compounddef>
306</doxygen>
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