Changeset 1184

Timestamp:

09/10/10 11:11:41 (14 years ago)

Author:

smidl

Message:

corrections of PMSM simulations

Files:

• applications/pmsm/CMakeLists.txt (modified) (1 diff)
• applications/pmsm/TR2245/CMakeLists.txt (modified) (1 diff)
• applications/pmsm/pmsm.h (modified) (1 diff)
• applications/pmsm/pmsm_estim.cpp (modified) (4 diffs)
• applications/pmsm/pmsm_estim_mex.cpp (modified) (1 diff)
• applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp (modified) (1 diff)
• library/bdm/math/functions.h (modified) (1 diff)

applications/pmsm/CMakeLists.txt

@@ -30 +30 @@
 
 EXEC (pmsm_estim pmsmsim ekf_obj)
+MEX (pmsm_estim pmsmsim ekf_obj)
 #EXEC (sim pmsmsim)
 #EXEC (sim_var pmsmsim)

applications/pmsm/TR2245/CMakeLists.txt

@@ -1 +1 @@
 # Make sure the compiler can find include files from our Bdm library.
-EXEC (unitsteps pmsmsim)
-EXEC (wishart pmsmsim)
+#EXEC (unitsteps pmsmsim)
+#EXEC (wishart pmsmsim)
 #EXEC (pmsm_wishart pmsmsim)

applications/pmsm/pmsm.h

@@ -364 +364 @@
 UIREGISTER ( OMpmsmRO );
 
+class OMpmsmROMz: public OMpmsmRO{
+public:
+        OMpmsmROMz() :OMpmsmRO() {dimy=2;dimx=5;dimu=0;};
+};
+UIREGISTER ( OMpmsmROMz );
 
 //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations

applications/pmsm/pmsm_estim.cpp

@@ -15 +15 @@
 
 using namespace bdm;
+#ifdef MEX
+#include <itpp/itmex.h>
+#include <mex/mex_BM.h>
+#include <mex/mex_logger.h>
+#include <mex/mex_datasource.h>
+#include <mex/mex_function.h>
+
+void mexFunction ( int n_output, mxArray *output[], int n_input, const mxArray *input[] ) {
+        // Check the number of inputs and output arguments
+        if ( n_input<2 ) mexErrMsgTxt ( "Usage:\n"
+                                                "[Res,estimators,Res2]=estimator(system, estimators, experiment, logger)\n"
+                                                "  system     = struct('class','datasource',...);  % Estimated system\n"
+                                                "  estimators = {struct('class','estimator',...),  % Estimators\n"
+                                                "                struct('class','estimator',...),...} \n"
+                                                "  === optional ==="
+                                                "  experiment = struct('ndat',10);                 % number of data in experiment, full length of finite datasources, 10 otherwise \n"
+                                                "  logger     = struct('class','mexlogger');       % How to store results, default=mexlog, i.e. matlab structure\n\n"
+                                                "Output:\n"
+                                                "  Res          Matlab structure with logged results, \n"  
+                                                "  estimators   Array of estimators updated with data \n"
+                                                "  Res2         When logfull log_level is on, this structure is filled with structures of posterior densities\n\n"
+                                                "see documentation of classes datasource, BM, and mexlogger and their offsprings in BDM." );
+
+        RV::clear_all();
+        //CONFIG
+        UImxArray F;
+        try {
+                F.addGroup ( input[0],"system" );
+                F.addList ( input[1],"estimators" );
+                if ( n_input>2 ) {
+                        F.addGroup ( input[2],"experiment" );
+                }
+                if ( n_input>3 ) {
+                        F.addGroup ( input[3],"logger" );
+                }
+        } catch ( SettingException e ) {
+                it_error ( "error: "+string ( e.getPath() ) );
+        }
+
+        //DBG
+        F.writeFile ( "pmsm_estim.cfg" );
+
+#else
 int main ( int argc, char* argv[] ) {
         const char *fname;
@@ -20 +63 @@
         else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); }
         UIFile F ( fname );
-
+#endif
+        
         shared_ptr<logger> L = UI::build <logger>( F, "logger" );
         shared_ptr<DS>  pDS = UI::build<DS> ( F, "system" );
         Array<shared_ptr<BM> > Es;                      // array of estimators
-        UI::get( Es, F, "estimator" );
+        UI::get( Es, F, "estimators" );
         int nE = Es.length();   //number of estimators
         int Ndat;                               //number of data records
         F.lookupValue ( "experiment.ndat",Ndat );
-                
+                        
+        if ( !L ) {
+        #ifdef MEX
+                        //mex logger has only from_setting constructor - we  have to fill it...
+                        L=new mexlog ( Ndat );
+        #else
+                        L=new stdlog();
+        #endif
+                }
         pDS->log_register ( *L, "true" );
         string Ename;
@@ -67 +119 @@
 
         L->finalize();
+#ifdef MEX
+        mexlog* mL=dynamic_cast<mexlog*> ( L.get() );
+
+        if ( mL ) { // user wants output!!
+                if ( n_output<1 ) mexErrMsgTxt ( "Wrong number of output variables!" );
+                output[0] = mL->toCell();
+                if (n_output>1){ // write estimators
+                        UImxArray Ests;
+                        UI::save(Es, Ests,"estimators");
+                        output[1]=UImxArray::create_mxArray(Ests);
+                }
+                if (n_output>2) {
+                        mL->_setting_conf().setAutoConvert(true);
+                        output[2]= UImxArray::create_mxArray(mL->_setting_conf().getRoot());
+                }
+        }
+#endif
 
         for (int i=0; i<nE; i++){
@@ -72 +141 @@
                 delete Dlsc(i);
         }
-        return 0;
 }
 

applications/pmsm/pmsm_estim_mex.cpp

@@ -7 +7 @@
  */
 
-#include "pmsm.h"
-#include "stat/loggers.h"
+#include "base/user_info.h"
+#include "base/loggers.h"
 #include "estim/kalman.h"
+#include "pmsmDS.h"
+#include "filters.h"
+#include "base/datasources.h"
+#include "simulator_zdenek/ekf_example/ekf_obj.h"
 
 #include <itpp/itmex.h>
-#include "../../library/mex/mex_logger.h"
-#include "../../library/mex/mex_datasource.h"
-#include "../../library/mex/mex_parser.h"
+#include <mex/mex_BM.h>
+#include <mex/mex_logger.h>
+#include <mex/mex_datasource.h>
+#include <mex/mex_function.h>
 
 using namespace bdm;

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp

@@ -217 +217 @@
             sigma += (((long)(*PSIU_ik)**PSIU_ik)>>15)*(*Dold_i);
                 }
-                sigma += *(Q+i+irows);
+                sigma += *(Q+i+irows)<<15;
         for (j=i+1, G_ik=G+irows+i+1; j<rows; j++,G_ik++) {
             sigma += (((long)(*G_ik)**G_ik)>>13)**(Q+j+j*rows);

library/bdm/math/functions.h

@@ -150 +150 @@
         return dimu;
     }
+    void validate(){dimc=dimx+dimu;};
 };