[280] | 1 | |
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| 2 | /*! |
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| 3 | \file |
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| 4 | \brief Multi-Estimator (developped for PMSM) |
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| 5 | |
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| 6 | |
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| 7 | */ |
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| 8 | |
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| 9 | #include "pmsm_ui.h" |
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| 10 | #include "stat/loggers_ui.h" |
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| 11 | #include "estim/KF_ui.h" |
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| 12 | |
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| 13 | using namespace bdm; |
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| 14 | int main ( int argc, char* argv[] ) { |
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| 15 | const char *fname; |
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| 16 | if ( argc>1 ) {fname = argv[1]; } |
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| 17 | else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); } |
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| 18 | UIFile F ( fname ); |
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| 19 | |
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| 20 | logger* L; |
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| 21 | DS * DS; |
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| 22 | Array<BM*> Es; // array of estimators |
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| 23 | int Ndat; //number of data records |
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| 24 | int nE; //number of estimators |
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| 25 | |
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| 26 | try { |
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| 27 | UIbuild ( F.lookup ( "logger" ),L ); |
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| 28 | UIbuild ( F.lookup ( "system" ),DS ); |
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| 29 | F.lookupValue ( "experiment.ndat",Ndat ); |
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| 30 | Setting& S=F.lookup ( "estimator" ); |
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| 31 | nE = S.getLength(); |
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| 32 | Es.set_size(nE); |
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| 33 | for(int i=0;i<nE;i++){ |
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| 34 | UIbuild (S[i] ,Es(i) ); |
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| 35 | } |
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| 36 | } |
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[281] | 37 | catch UICATCH; |
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[280] | 38 | |
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| 39 | DS->log_add ( *L ); |
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[318] | 40 | string nic=""; |
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[280] | 41 | for (int i=0; i<nE; i++){ |
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[318] | 42 | Es(i)->log_add(*L,nic); // estimate |
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[280] | 43 | } |
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| 44 | L->init(); |
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| 45 | |
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| 46 | vec dt=zeros ( DS->_drv()._dsize() ); //data variable |
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| 47 | Array<datalink*> Dls(nE); |
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| 48 | for (int i=0; i<nE; i++){ |
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| 49 | Dls(i)=new datalink( Es(i)->_drv(),DS->_drv() ); //datalink between a datasource and estimator |
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| 50 | } |
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| 51 | |
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| 52 | // Main cycle |
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| 53 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 54 | // Data Source |
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| 55 | DS->step(); // simulator step |
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| 56 | DS->getdata ( dt ); // read data |
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| 57 | DS->logit ( *L ); |
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| 58 | |
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| 59 | // Estimators |
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| 60 | for (int i=0; i<nE; i++){ |
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| 61 | Es(i)->bayes ( Dls(i)->pushdown ( dt ) ); // update estimates |
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| 62 | |
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[318] | 63 | Es(i)->logit (*L); |
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[280] | 64 | } |
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| 65 | // Regulators |
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| 66 | L->step(); |
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| 67 | } |
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| 68 | |
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| 69 | L->finalize(); |
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| 70 | |
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| 71 | delete L; |
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| 72 | delete DS; |
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| 73 | for (int i=0; i<nE; i++){ |
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| 74 | delete Dls(i); |
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| 75 | delete Es(i); |
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| 76 | } |
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| 77 | return 0; |
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| 78 | } |
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