[508] | 1 | #include "ctrlbase.h" |
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[491] | 2 | |
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[508] | 3 | namespace bdm{ |
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| 4 | |
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[586] | 5 | void LQG::set_system(shared_ptr<StateSpace<fsqmat> > S0){ |
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| 6 | S = S0; |
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| 7 | dimx= S->_dimx(); |
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| 8 | dimy= S->_dimy(); |
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| 9 | dimu= S->_dimu(); |
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[508] | 10 | pr=zeros(dimx+dimu+dimy, dimu+dimx+dimu+dimy); |
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| 11 | pr.set_submatrix(dimx, dimu+dimx, eye(dimu+dimy)); |
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| 12 | } |
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| 13 | |
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[586] | 14 | void LQG::set_control_parameters(const mat &Qy0, const mat &Qu0, const vec &y_req0, int horizon0){ |
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[508] | 15 | Qy=Qy0; |
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| 16 | Qu=Qu0; |
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| 17 | y_req=y_req0; |
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| 18 | horizon = horizon0; |
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[586] | 19 | validate(); |
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| 20 | initialize(); |
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[508] | 21 | } |
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| 22 | |
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[586] | 23 | void LQG::validate() { |
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[620] | 24 | bdm_assert ( Qy.cols() == dimy, "LQG: wrong dimensions of Qy " ); |
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| 25 | bdm_assert ( Qu.cols() == dimu, "LQG: wrong dimensions of Qu " ); |
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| 26 | bdm_assert ( y_req.length() == dimy, "LQG: wrong dimensions of y_req " ); |
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[586] | 27 | } |
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| 28 | |
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| 29 | void LQG::initialize(){ |
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[508] | 30 | // set parameter matrix |
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[586] | 31 | pr.set_submatrix(0,0,S->_B()); |
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| 32 | pr.set_submatrix(0,dimu, S->_A()); |
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[491] | 33 | |
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| 34 | //penalization |
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| 35 | qux=zeros(dimu,dimx+2*dimu+dimy); |
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| 36 | qux.set_submatrix(0,0,Qu); |
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| 37 | qux.set_submatrix(0,dimx+dimu+dimy,Qu); |
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| 38 | |
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[508] | 39 | qyx=zeros(dimy, dimx+dimy+dimu); |
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[586] | 40 | qyx.set_submatrix(0,0,S->_C()); |
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[508] | 41 | qyx.set_submatrix(0,dimx,-eye(dimy)); |
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[491] | 42 | |
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| 43 | // |
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[586] | 44 | s=1e-5*eye(dimx+dimu+dimy); |
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[491] | 45 | // parts of QR |
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| 46 | hqy=Qy*qyx*pr; |
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| 47 | |
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| 48 | // pre_qr |
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[508] | 49 | pre_qr = concat_vertical(s*pr, concat_vertical(hqy, qux)); |
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| 50 | post_qr = zeros(pre_qr.rows(), pre_qr.cols()); |
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| 51 | } |
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| 52 | |
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[565] | 53 | } |
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