Changeset 1064 for library/tests/testsuite/LQG_test.cpp

Timestamp:

06/09/10 14:00:40 (14 years ago)

Author:

mido

Message:

astyle applied all over the library

Files:

• library/tests/testsuite/LQG_test.cpp (modified) (1 diff)

library/tests/testsuite/LQG_test.cpp

@@ -6 +6 @@
 
 TEST ( LQG_test ) {
-        LQG reg;
-        shared_ptr<StateSpace<chmat> > stsp = new StateSpace<chmat>;
-        // 2 x 1 x 1
-        stsp-> set_parameters ( eye ( 2 ), ones ( 2, 1 ), ones ( 1, 2 ), ones ( 1, 1 ), /* Q,R */ eye ( 2 ), eye ( 1 ) );
-        reg.set_system ( stsp ); // A, B, C
-        reg.set_control_parameters ( eye ( 1 ), eye ( 1 ),  vec_1 ( 1.0 ), 6 ); //Qy, Qu, horizon
-        reg.validate();
+    LQG reg;
+    shared_ptr<StateSpace<chmat> > stsp = new StateSpace<chmat>;
+    // 2 x 1 x 1
+    stsp-> set_parameters ( eye ( 2 ), ones ( 2, 1 ), ones ( 1, 2 ), ones ( 1, 1 ), /* Q,R */ eye ( 2 ), eye ( 1 ) );
+    reg.set_system ( stsp ); // A, B, C
+    reg.set_control_parameters ( eye ( 1 ), eye ( 1 ),  vec_1 ( 1.0 ), 6 ); //Qy, Qu, horizon
+    reg.validate();
 
-        reg.redesign();
-        double reg_apply = reg.ctrlaction ( "0.5, 1.1", "0.0" ) ( 0 ); /*convert vec to double*/
-        CHECK_CLOSE ( reg_apply, -0.248528137234392, 0.0001 );
+    reg.redesign();
+    double reg_apply = reg.ctrlaction ( "0.5, 1.1", "0.0" ) ( 0 ); /*convert vec to double*/
+    CHECK_CLOSE ( reg_apply, -0.248528137234392, 0.0001 );
 }
 
 TEST ( to_state_test ) {
-        mlnorm<fsqmat> ml;
-        mat A = "1.1, 2.3";
-        ml.set_parameters ( A, vec_1 ( 1.3 ), eye ( 1 ) );
-        RV yr = RV ( "y", 1 );
-        RV ur = RV ( "u", 1 );
-        ml.set_rv ( yr );
-        yr.t_plus ( -1 );
-        ml.set_rvc ( concat ( yr, ur ) );
+    mlnorm<fsqmat> ml;
+    mat A = "1.1, 2.3";
+    ml.set_parameters ( A, vec_1 ( 1.3 ), eye ( 1 ) );
+    RV yr = RV ( "y", 1 );
+    RV ur = RV ( "u", 1 );
+    ml.set_rv ( yr );
+    yr.t_plus ( -1 );
+    ml.set_rvc ( concat ( yr, ur ) );
 
-        shared_ptr<StateCanonical > Stsp = new StateCanonical;
-        Stsp->connect_mlnorm ( ml );
+    shared_ptr<StateCanonical > Stsp = new StateCanonical;
+    Stsp->connect_mlnorm ( ml );
 
-        /* results from
-        [A,B,C,D]=tf2ss([2.3 0],[1 -1.1])
-        */
-        CHECK_CLOSE_EX ( Stsp->_A().get_row ( 0 ), vec ( "1.1" ), 0.0001 );
-        CHECK_CLOSE_EX ( Stsp->_C().get_row ( 0 ), vec ( "2.53" ), 0.0001 );
-        CHECK_CLOSE_EX ( Stsp->_D().get_row ( 0 ), vec ( "2.30" ), 0.0001 );
+    /* results from
+    [A,B,C,D]=tf2ss([2.3 0],[1 -1.1])
+    */
+    CHECK_CLOSE_EX ( Stsp->_A().get_row ( 0 ), vec ( "1.1" ), 0.0001 );
+    CHECK_CLOSE_EX ( Stsp->_C().get_row ( 0 ), vec ( "2.53" ), 0.0001 );
+    CHECK_CLOSE_EX ( Stsp->_D().get_row ( 0 ), vec ( "2.30" ), 0.0001 );
 }
 
 TEST ( to_state_arx_test ) {
-        mlnorm<chmat> ml;
-        mat A = "1.1, 2.3, 3.4";
-        ml.set_parameters ( A, vec_1 ( 1.3 ), eye ( 1 ) );
-        RV yr = RV ( "y", 1 );
-        RV ur = RV ( "u", 1 );
-        ml.set_rv ( yr );
-        ml.set_rvc ( concat ( yr.copy_t ( -1 ), concat ( ur, ur.copy_t ( -1 ) ) ) );
+    mlnorm<chmat> ml;
+    mat A = "1.1, 2.3, 3.4";
+    ml.set_parameters ( A, vec_1 ( 1.3 ), eye ( 1 ) );
+    RV yr = RV ( "y", 1 );
+    RV ur = RV ( "u", 1 );
+    ml.set_rv ( yr );
+    ml.set_rvc ( concat ( yr.copy_t ( -1 ), concat ( ur, ur.copy_t ( -1 ) ) ) );
 
-        shared_ptr<StateFromARX> Stsp = new StateFromARX;
-        RV xrv;
-        RV urv;
-        Stsp->connect_mlnorm ( ml, xrv, urv );
+    shared_ptr<StateFromARX> Stsp = new StateFromARX;
+    RV xrv;
+    RV urv;
+    Stsp->connect_mlnorm ( ml, xrv, urv );
 
-        /* results from
-        [A,B,C,D]=tf2ss([2.3 0],[1 -1.1])
-        */
-        CHECK_CLOSE_EX ( Stsp->_A().get_row ( 0 ), vec ( "1.1, 3.4, 1.3" ), 0.0001 );
-        CHECK_CLOSE_EX ( Stsp->_B().get_row ( 0 ), vec ( "2.3" ), 0.0001 );
-        CHECK_CLOSE_EX ( Stsp->_C().get_row ( 0 ), vec ( "1, 0, 0" ), 0.0001 );
+    /* results from
+    [A,B,C,D]=tf2ss([2.3 0],[1 -1.1])
+    */
+    CHECK_CLOSE_EX ( Stsp->_A().get_row ( 0 ), vec ( "1.1, 3.4, 1.3" ), 0.0001 );
+    CHECK_CLOSE_EX ( Stsp->_B().get_row ( 0 ), vec ( "2.3" ), 0.0001 );
+    CHECK_CLOSE_EX ( Stsp->_C().get_row ( 0 ), vec ( "1, 0, 0" ), 0.0001 );
 }
 
 TEST ( arx_LQG_test ) {
-        mlnorm<chmat> ml;
-        mat A = "1.81, -.81, .00468, .00438";
-        ml.set_parameters ( A, vec_1 ( 0.0 ), 0.00001*eye ( 1 ) );
-        RV yr = RV ( "y", 1 );
-        RV ur = RV ( "u", 1 );
-        RV rgr = yr.copy_t ( -1 );
-        rgr.add ( yr.copy_t ( -2 ) );
-        rgr.add ( yr.copy_t ( -2 ) );
-        rgr.add ( ur.copy_t ( -1 ) );
-        rgr.add ( ur );
+    mlnorm<chmat> ml;
+    mat A = "1.81, -.81, .00468, .00438";
+    ml.set_parameters ( A, vec_1 ( 0.0 ), 0.00001*eye ( 1 ) );
+    RV yr = RV ( "y", 1 );
+    RV ur = RV ( "u", 1 );
+    RV rgr = yr.copy_t ( -1 );
+    rgr.add ( yr.copy_t ( -2 ) );
+    rgr.add ( yr.copy_t ( -2 ) );
+    rgr.add ( ur.copy_t ( -1 ) );
+    rgr.add ( ur );
 
-        ml.set_rv ( yr );
-        ml.set_rvc ( rgr );
-        ml.validate();
+    ml.set_rv ( yr );
+    ml.set_rvc ( rgr );
+    ml.validate();
 
-        shared_ptr<StateFromARX> Stsp = new StateFromARX;
-        RV xrv;
-        RV urv;
-        Stsp->connect_mlnorm ( ml, xrv, urv );
+    shared_ptr<StateFromARX> Stsp = new StateFromARX;
+    RV xrv;
+    RV urv;
+    Stsp->connect_mlnorm ( ml, xrv, urv );
 
-        LQG L;
-        L.set_system ( Stsp );
-        L.set_control_parameters ( eye ( 1 ), sqrt ( 1.0 / 1000 ) *eye ( 1 ), vec_1 ( 0.0 ), 100 );
-        L.validate();
+    LQG L;
+    L.set_system ( Stsp );
+    L.set_control_parameters ( eye ( 1 ), sqrt ( 1.0 / 1000 ) *eye ( 1 ), vec_1 ( 0.0 ), 100 );
+    L.validate();
 
-        L.redesign();
-        cout << L.to_string() << endl;
+    L.redesign();
+    cout << L.to_string() << endl;
 }