Changeset 1130 for library/bdm

Timestamp:

07/09/10 12:39:41 (14 years ago)

Author:

smidl

Message:

Basic outline of universal LQG controller

Location:

library/bdm

Files:

• design/ctrlbase.h (modified) (1 diff)
• design/lq_ctrl.h (added)
• math/functions.h (modified) (3 diffs)

library/bdm/design/ctrlbase.h

@@ -20 +20 @@
 //! \note advanced Controllers will probably include estimator as their internal attribute (e.g. dual controllers)
 class Controller : public root {
-protected:
+  public:
     //! identifier of the designed action;
     RV rv;
+protected:
     //! identifier of the conditioning variables - data needed ;
     RV rvc;

library/bdm/math/functions.h

@@ -38 +38 @@
 //! Class representing function \f$f(x) = Ax+B\f$
 class linfn: public fnc {
+  public:
     //! Identification of \f$x\f$
     RV rv;
@@ -53 +54 @@
     //!default constructor
     linfn ( ) : fnc(), A ( ), B () { };
+    linfn ( const mat &A0, const vec &B0 ) : fnc(), A (A0 ), B (B0) { };
     //! Set values of \c A and \c B
     void set_parameters ( const mat &A0 , const vec &B0 ) {
@@ -70 +72 @@
 UIREGISTER(linfn);
 
+
+//! Class representing function \f$ f(x) = [x' 1] Q [x' 1]' \f$ with Q in choleski decomposition
+class quadraticfn: public fnc {
+public :
+    //! Identification of \f$x\f$
+    RV rv;
+    //! Matrix Q
+    chmat Q;
+
+    
+    vec eval ( const vec &cond ) {
+        bdm_assert_debug ( cond.length() == Q.cols(), "quadraticfc::eval Wrong cond." );
+        return vec_1( Q.qform(concat(cond,1.0)) );
+    }
+
+    void from_setting(const Setting &set) {
+//        UI::get(Q,set,"Q",UI::compulsory);
+    }
+    void validate() {
+        dimy = 1;
+        dimc = Q.cols()-1;
+    }
+
+};
+UIREGISTER(quadraticfn);
 
 /*!