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64<h1>ctrlbase.h</h1><a href="ctrlbase_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
65<a name="l00013"></a>00013 <span class="preprocessor">#include "../base/bdmbase.h"</span>
66<a name="l00014"></a>00014 <span class="preprocessor">#include "../estim/kalman.h"</span>
67<a name="l00015"></a>00015
68<a name="l00016"></a>00016 <span class="keyword">namespace </span>bdm{
69<a name="l00017"></a>00017
70<a name="l00019"></a><a class="code" href="classbdm_1_1Designer.html">00019</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1Designer.html" title="Low-level class for design of control strategy.">Designer</a>  {
71<a name="l00020"></a>00020         
72<a name="l00021"></a>00021         <span class="keyword">public</span>:
73<a name="l00023"></a><a class="code" href="classbdm_1_1Designer.html#c2855e3a554af0221401626a2904ef22">00023</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Designer.html#c2855e3a554af0221401626a2904ef22" title="Redesign control strategy.">redesign</a>() {
74<a name="l00024"></a>00024                         <a class="code" href="bdmerror_8h.html#7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">"Not implemented"</span>);
75<a name="l00025"></a>00025                 }
76<a name="l00026"></a>00026
77<a name="l00028"></a><a class="code" href="classbdm_1_1Designer.html#334668204e01d468fe107780d10d2bd8">00028</a>                 <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Designer.html#334668204e01d468fe107780d10d2bd8" title="apply control strategy to obtain control input">apply</a>(<span class="keyword">const</span> vec &amp;cond) {
78<a name="l00029"></a>00029                         <a class="code" href="bdmerror_8h.html#7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">"Not implemented"</span>);
79<a name="l00030"></a>00030                         <span class="keywordflow">return</span> vec();
80<a name="l00031"></a>00031                 }
81<a name="l00032"></a>00032 };
82<a name="l00033"></a>00033
83<a name="l00036"></a><a class="code" href="classbdm_1_1LQG.html">00036</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1LQG.html">LQG</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1Designer.html" title="Low-level class for design of control strategy.">Designer</a> {
84<a name="l00037"></a>00037         <span class="keyword">protected</span>:
85<a name="l00039"></a><a class="code" href="classbdm_1_1LQG.html#9575232a3b04933e6b4c4299bf1bfe15">00039</a>                 <a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr&lt;StateSpace&lt;fsqmat&gt;</a> &gt; <a class="code" href="classbdm_1_1LQG.html#9575232a3b04933e6b4c4299bf1bfe15" title="StateSpace model from which we read data.">S</a>;
86<a name="l00041"></a><a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65">00041</a>                 vec <a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>;
87<a name="l00043"></a><a class="code" href="classbdm_1_1LQG.html#8dc7e6ca7949ded1d94ccd78cb8bb2da">00043</a>                 vec <a class="code" href="classbdm_1_1LQG.html#8dc7e6ca7949ded1d94ccd78cb8bb2da" title="required value of the output y at time t (assumed constant)">u_req</a>;
88<a name="l00044"></a>00044                 
89<a name="l00046"></a><a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869">00046</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>;
90<a name="l00048"></a><a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f">00048</a>                 mat <a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>;
91<a name="l00050"></a><a class="code" href="classbdm_1_1LQG.html#13f14aea28c7f7b074779ece7df5e748">00050</a>                 mat <a class="code" href="classbdm_1_1LQG.html#13f14aea28c7f7b074779ece7df5e748" title="penalization matrix Qu">Qu</a>;
92<a name="l00052"></a><a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e">00052</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>;
93<a name="l00054"></a><a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80">00054</a>                 mat <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>;
94<a name="l00055"></a>00055                 
95<a name="l00058"></a>00058                 <span class="keywordtype">int</span> dimx;
96<a name="l00060"></a><a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09">00060</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>;
97<a name="l00062"></a><a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969">00062</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>;
98<a name="l00063"></a>00063                 
99<a name="l00065"></a><a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909">00065</a>                 mat <a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>;
100<a name="l00067"></a><a class="code" href="classbdm_1_1LQG.html#98203a62e12acc13ced7ef22e4ac4255">00067</a>                 mat <a class="code" href="classbdm_1_1LQG.html#98203a62e12acc13ced7ef22e4ac4255" title="penalization">qux</a>;
101<a name="l00069"></a><a class="code" href="classbdm_1_1LQG.html#0fc6ec35bd9e5f99192b5ff7b0257aef">00069</a>                 mat <a class="code" href="classbdm_1_1LQG.html#0fc6ec35bd9e5f99192b5ff7b0257aef" title="penalization">qyx</a>;
102<a name="l00071"></a><a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b">00071</a>                 mat <a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>;
103<a name="l00073"></a><a class="code" href="classbdm_1_1LQG.html#b29c3dfff52b54e44a793d62afbb5a63">00073</a>                 mat <a class="code" href="classbdm_1_1LQG.html#b29c3dfff52b54e44a793d62afbb5a63" title="penalization">qy</a>;
104<a name="l00075"></a><a class="code" href="classbdm_1_1LQG.html#0f20c8ff99875e3009f2e427247c4c78">00075</a>                 mat <a class="code" href="classbdm_1_1LQG.html#0f20c8ff99875e3009f2e427247c4c78" title="pre_qr part">hqy</a>;
105<a name="l00077"></a><a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0">00077</a>                 mat <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>;
106<a name="l00079"></a><a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e">00079</a>                 mat <a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>;
107<a name="l00081"></a>00081                 
108<a name="l00082"></a>00082         <span class="keyword">public</span>:
109<a name="l00084"></a>00084                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#d70ccc26e555b7f96c778a08b0d2153e" title="set system parameters from given matrices">set_system</a>(<a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr</a>&lt;<a class="code" href="classbdm_1_1StateSpace.html">StateSpace&lt;fsqmat&gt;</a> &gt; S0);
110<a name="l00086"></a>00086                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#be34f68bc868096df1473487b920bae3" title="set penalization matrices and control horizon">set_control_parameters</a>(<span class="keyword">const</span> mat &amp;Qy0, <span class="keyword">const</span> mat &amp;Qu0, <span class="keyword">const</span> vec &amp;y_req0, <span class="keywordtype">int</span> horizon0);
111<a name="l00088"></a>00088 <span class="comment">//              void set_system_parameters(const Kalman &amp;K);</span>
112<a name="l00090"></a>00090 <span class="comment"></span>                <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ec1a44c57a4569335a943462b35c3156" title="set system parameters from Kalman filter">initialize</a>();
113<a name="l00091"></a>00091                 <span class="keywordtype">void</span> validate();
114<a name="l00093"></a><a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c">00093</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>(){};
115<a name="l00095"></a><a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805">00095</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(){
116<a name="l00096"></a>00096                         <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(0,0,<a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>*<a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>);
117<a name="l00097"></a>00097                         <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(dimx+<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx, -<a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>*<a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>);
118<a name="l00098"></a>00098                         <span class="keywordflow">if</span> (!qr(<a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>,<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>)) <a class="code" href="bdmerror_8h.html#59c5a63b3878ebcd6cc952fc2b47191c" title="Display a warning message.">bdm_warning</a>(<span class="stringliteral">"QR in LQG unstable"</span>);
119<a name="l00099"></a>00099                         triu(<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>);
120<a name="l00100"></a>00100         <span class="comment">// hn(m+1:2*m+n+r,m+1:2*m+n+r);</span>
121<a name="l00101"></a>00101                         <a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>=<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1);
122<a name="l00102"></a>00102                 };
123<a name="l00103"></a><a class="code" href="classbdm_1_1LQG.html#e8df589bbdbdd40515f837c9c9560ed8">00103</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#e8df589bbdbdd40515f837c9c9560ed8" title="Redesign control strategy.">redesign</a>(){
124<a name="l00104"></a>00104                         <span class="keywordflow">for</span>(<a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>=<a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>; <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>&gt;0; <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>--){
125<a name="l00105"></a>00105                                 <a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>();
126<a name="l00106"></a>00106                                 <a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>();
127<a name="l00107"></a>00107                         }
128<a name="l00108"></a>00108 <span class="comment">/*                      ws=hn(1:m,m+1:2*m+n+r);</span>
129<a name="l00109"></a>00109 <span class="comment">                        wsd=hn(1:m,1:m);</span>
130<a name="l00110"></a>00110 <span class="comment">                        Lklq=-inv(wsd)*ws;*/</span>
131<a name="l00111"></a>00111                         <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a> = -inv(<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, 0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1)) * <a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1);
132<a name="l00112"></a>00112                 }
133<a name="l00113"></a>00113                 vec apply(<span class="keyword">const</span> vec &amp;state, <span class="keyword">const</span> vec &amp;ukm){vec pom=concat(state, ones(<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>), ukm); <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>*pom;}
134<a name="l00114"></a>00114         } ;
135<a name="l00115"></a>00115
136<a name="l00119"></a><a class="code" href="classbdm_1_1Controller.html">00119</a>         <span class="keyword">class </span><a class="code" href="classbdm_1_1Controller.html">Controller</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1root.html" title="Root class of BDM objects.">root</a> {
137<a name="l00121"></a>00121                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> yrv;
138<a name="l00123"></a>00123                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> urv;
139<a name="l00125"></a>00125                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> drv;
140<a name="l00126"></a>00126                 <span class="keyword">public</span>:
141<a name="l00128"></a><a class="code" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774">00128</a>                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774" title="function processing new observations and adapting control strategy accordingly">adapt</a>(<span class="keyword">const</span> vec &amp;data){};
142<a name="l00130"></a><a class="code" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180">00130</a>                         <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180" title="returns designed control action">ctrlaction</a>(<span class="keyword">const</span> vec &amp;data){<span class="keywordflow">return</span> vec(0);}
143<a name="l00131"></a>00131                         
144<a name="l00132"></a><a class="code" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77">00132</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77" title="This method arrange instance properties according the data stored in the Setting...">from_setting</a>(<span class="keyword">const</span> Setting &amp;<span class="keyword">set</span>){
145<a name="l00133"></a>00133                                 <a class="code" href="classbdm_1_1UI.html#cd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(yrv,<span class="keyword">set</span>,<span class="stringliteral">"yrv"</span>,UI::optional);
146<a name="l00134"></a>00134                                 <a class="code" href="classbdm_1_1UI.html#cd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(yrv,<span class="keyword">set</span>,<span class="stringliteral">"urv"</span>,UI::optional);
147<a name="l00135"></a>00135                         }
148<a name="l00137"></a><a class="code" href="classbdm_1_1Controller.html#5c5b40a9e65abc1434c8a34c9752e25d">00137</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#5c5b40a9e65abc1434c8a34c9752e25d" title="access function">_urv</a>() {<span class="keywordflow">return</span> urv;}
149<a name="l00139"></a><a class="code" href="classbdm_1_1Controller.html#258f7c6435343b088ed02a304cab99b0">00139</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#258f7c6435343b088ed02a304cab99b0" title="access function">_yrv</a>() {<span class="keywordflow">return</span> yrv;}
150<a name="l00141"></a><a class="code" href="classbdm_1_1Controller.html#51e1fbd42ba80789f31b5bc14068f498">00141</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#51e1fbd42ba80789f31b5bc14068f498" title="access function">_drv</a>() {<span class="keywordflow">return</span> drv;}
151<a name="l00142"></a>00142         };
152<a name="l00143"></a>00143                         
153<a name="l00144"></a>00144 } <span class="comment">// namespace</span>
154</pre></div></div>
155<hr size="1"><address style="text-align: right;"><small>Generated on Sat Aug 29 20:49:42 2009 for mixpp by&nbsp;
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157<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
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