root/pmsm/pmsm_estim.cpp @ 299

/*!
\file
\brief Multi-Estimator (developped for PMSM)


 */

#include "pmsm_ui.h"
#include "stat/loggers_ui.h"
#include "estim/KF_ui.h"

using namespace bdm;
int main ( int argc, char* argv[] ) {
        const char *fname;
        if ( argc>1 ) {fname = argv[1]; }
        else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); }
        UIFile F ( fname );

        logger* L;
        DS * DS;
        Array<BM*> Es;                  // array of estimators
        int Ndat;                               //number of data records
        int nE;                                 //number of estimators

        try {
                UIbuild ( F.lookup ( "logger" ),L );
                UIbuild ( F.lookup ( "system" ),DS );
                F.lookupValue ( "experiment.ndat",Ndat );
                Setting& S=F.lookup ( "estimator" );
                nE = S.getLength();
                Es.set_size(nE);
                for(int i=0;i<nE;i++){          
                        UIbuild (S[i] ,Es(i) );
                }
        }
        catch UICATCH;

        DS->log_add ( *L );
        ivec L_est(nE);
        for (int i=0; i<nE; i++){
                L_est(i)= L->add ( Es(i)->posterior()._rv(), "" ); // estimate
        }
        L->init();

        vec dt=zeros ( DS->_drv()._dsize() );   //data variable
        Array<datalink*> Dls(nE); 
        for (int i=0; i<nE; i++){
                Dls(i)=new datalink( Es(i)->_drv(),DS->_drv() ); //datalink between a datasource and estimator
        }
        
        // Main cycle
        for ( int tK=1;tK<Ndat;tK++ ) {
                // Data Source
                DS->step();                                                     // simulator step
                DS->getdata ( dt );                                     // read data
                DS->logit ( *L );
                
                // Estimators
                for (int i=0; i<nE; i++){
                        Es(i)->bayes ( Dls(i)->pushdown ( dt ) );               // update estimates

                        L->logit ( L_est(i), Es(i)->posterior().mean() );
                }
                // Regulators
                L->step();
        }

        L->finalize();

        delete L;
        delete DS;
        for (int i=0; i<nE; i++){
                delete Dls(i);
                delete Es(i);
        }
        return 0;
}