Changeset 1193

Timestamp:

09/21/10 20:40:49 (15 years ago)

Author:

vahalam

Message:

oprava chyb nalezenych pomoci testu

Files:

• library/bdm/design/lq_ctrl.h (modified) (7 diffs)

library/bdm/design/lq_ctrl.h

@@ -2 +2 @@
 
 namespace bdm {
+
+const bool STRICT_RV = true; //empty RV NOT allowed
 
 //! extended class representing function \f$f(x) = Ax+B\f$
@@ -23 +25 @@
                 //! model of evolutin
                 Array<linfnEx> Models;
-                RV model_rv_ret;
+//              RV model_rv_ret;
 
                 //! control law rv is public member in Controller class  
@@ -94 +96 @@
         mat getL(){ return L; }
 
+        void resetTime() { curtime = -1; }
+
+        //! check if model and losses is correct and consistent
+        virtual void validate(){
+                /*
+                        RV:findself hleda cela rv jako vektory, pri nenalezeni je -1
+                        RV:dataind hleda datove slozky, tedy indexy v poli skalaru, pri nenalezeni vynecha
+                */
+                // (0) nonempty
+                bdm_assert((Models.size() > 0), "VALIDATION FAILED! Models array empty.");
+                bdm_assert((Losses.size() > 0), "VALIDATION FAILED! Losses array empty.");
+                if( (Models.size() <= 0) || (Losses.size() <= 0) ) return;
+
+                // (1) test Models array rv - acceptable rv is only part/composition of LQG_universal::rv, LQG_universal::rvc and const 1
+                RV accept_total;
+                accept_total = rv;
+                accept_total.add(rvc);
+                accept_total.add(RV("1", 1, 0));
+                
+                int i, j;
+                ivec finding1;
+
+                for(i = 0; i < Models.length(); i++){
+                        finding1 = Models(i).rv.findself(accept_total); 
+
+                        bdm_assert( !(STRICT_RV && (finding1.size() <= 0)), "VALIDATION FAILED! Empty RV used.");
+
+                        for(j = 0; j < finding1.size(); j++){                           
+                                bdm_assert( ( finding1(j) > (-1) ), "VALIDATION FAILED! Provided input RV for some Models function is unknown, forbidden or recursive.");                                                       
+                                if(finding1(j) <= (-1) ) return; //rv element is not part of admissible rvs => error
+                        }                       
+                }               
+                
+                //NOT!!! (2) test Models array rv_ret - each array element's rv_ret must be unique (except const 1)
+                //RV unique_rv_ret;
+                //unique_rv_ret = Models(0).rv_ret;
+
+                //for(i = 1; i < Models.length(); i++){
+                //      finding1 = Models(i).rv_ret.findself(unique_rv_ret);
+
+                //      for(j = 0; j < finding1.size(); j++){                                                           
+                //              if(Models(i).rv_ret.name(j) == "1") continue; // except const 1
+
+                //              bdm_assert((finding1(j) == (-1) ), "VALIDATION FAILED! Models functions result RV (rv_ret) must be unique.");
+                //              if(finding1(j) != (-1) ) return; //rv_ret element not unique
+                //      }
+
+                //      unique_rv_ret.add(Models(i).rv_ret);
+                //}             
+                
+                // (3) test Losses array - acceptable rv is only part/composition of LQG_universal::rv, LQG_universal::rvc, Models rv_ret and const 1
+                for(i = 0; i < Models.length(); i++) accept_total.add(Models(i).rv_ret); //old accept_total from (1) + all rv_ret from Models
+                
+                for(i = 0; i < Losses.length(); i++){
+                        finding1 = Losses(i).rv.findself(accept_total);
+
+                        bdm_assert( !(STRICT_RV && (finding1.size() <= 0)), "VALIDATION FAILED! Empty RV used.");
+
+                        for(j = 0; j < finding1.size(); j++){
+                                bdm_assert( ( finding1(j) > (-1) ), "VALIDATION FAILED! Unacceptable RV used in some Losses function.");
+                                if(finding1(j) <= (-1) ) return; //rv element is not part of admissible rvs => error
+                        }
+                }       
+
+                // same for finalLoss
+                finding1 = finalLoss.rv.findself(accept_total);
+
+                bdm_assert( !(STRICT_RV && (finding1.size() <= 0)), "VALIDATION FAILED! Empty RV used.");
+
+                for(j = 0; j < finding1.size(); j++){
+                        bdm_assert( ( finding1(j) > (-1) ), "VALIDATION FAILED! Unacceptable RV used in finalLoss function.");
+                        if(finding1(j) <= (-1) ) return; //rv element is not part of admissible rvs => error
+                }
+        }
+
 private:
         RV trs_crv;
@@ -121 +198 @@
                 //set data in tmpMatRow - other times then current replace using model
                 RV tmpQrv = sourceQfn.rv;
-                for(int j = 0; j < tmpQrv.length(); j++){
-                        ivec j_vec(1);
-                        j_vec(0) = j;   
+                ivec j_vec(1);
+                for(int j = 0; j < tmpQrv.length(); j++){                       
+                        j_vec(0) = j;
+                        
                         if( (tmpQrv.time(j) == 0) && (sum(tmpQrv(j_vec).findself(trs_crv)) > (-1)) ) {//sum is only formal, summed vector is in fact scalar
                                 //jth element of tmpQrv is also element of trs_crv with a proper time
@@ -169 +247 @@
                                 copysubmat.zeros();
                                 vec copycol;
+                                
                                 int k;
                                 for(k = 0; k < copysource.size(); k++){
@@ -194 +273 @@
                                                 //      tmpMatRow(new) = tmpMatRow(old) + transsubmat /all in proper indices
                                                 int l;
-                                                for(l = 0; l < copysource.size(); l++){
-                                                        copycol = tmpMatRow.get_col(copytarget(l));
-                                                        copycol += transsubmat.get_col(l);                                      
-                                                        tmpMatRow.set_col(copytarget(l), copycol);                                      
+                                                for(l = 0; l < copytarget.size(); l++){                                 
+                                                        copycol = tmpMatRow.get_col(copytarget(l));                                     
+                                                        copycol += transsubmat.get_col(l);                                                              
+                                                        tmpMatRow.set_col(copytarget(l), copycol);                                                              
                                                 }
 
@@ -269 +348 @@
                 }
 
-                if(!next) {
-                        tmpMatRow = getMatRow(finalLoss);
+                if(!next) {                     
+                        tmpMatRow = getMatRow(finalLoss);                       
                         pre_qr.set_submatrix(rowIndex, (rowIndex + finalLoss.Q.rows() - 1), 0, (trs_crv.countsize() - 1), tmpMatRow);  //(int r1, int r2, int c1, int c2, const Mat<  Num_T > &m)               
                 }