Changeset 1380 for applications/pmsm/simulator_zdenek/ekf_example

Timestamp:

08/01/11 22:11:09 (13 years ago)

Author:

smidl

Message:

MPF v C

Location:

applications/pmsm/simulator_zdenek/ekf_example

Files:

• CMakeLists.txt (modified) (1 diff)
• ekf_obj.cpp (modified) (1 diff)
• ekf_obj.h (modified) (2 diffs)
• mpf_double.cpp (added)
• mpf_double.h (added)

applications/pmsm/simulator_zdenek/ekf_example/CMakeLists.txt

@@ -2 +2 @@
 
 include_directories(../../bdm)
-add_library (ekf_obj ekf_obj.cpp fixed.cpp matrix.cpp matrix_vs.cpp)
+add_library (ekf_obj ekf_obj.cpp fixed.cpp matrix.cpp matrix_vs.cpp mpf_double.cpp)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp

@@ -3 +3 @@
 
 #include "ekf_obj.h"
-#include "../simulator.h"
+//#include "../simulator.h"
 
 double minQ(double Q){if (Q>1.0){ return 1.0;} else {return Q;};};

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -21 +21 @@
 #include "reference_Q15.h"
 #include "parametry_motoru.h"
+#include "mpf_double.h"
 
 using namespace bdm;
@@ -564 +565 @@
 
 
+class MPF_pmsm_red:public BM{
+
+
+public:
+                MPF_pmsm_red(){
+                        dimy=2;
+                        dimc=2;
+                        mpf_init(1e-1, 1e-6, 1e-1);
+                };
+        void bayes ( const vec &val, const vec &cond ) {
+                const double &isa = val(0);
+                const double &isb = val(1);
+                const double &usa = cond(0);
+                const double &usb = cond(1);
+                mpf_bayes(isa,isb,usa,usb);
+        }
+        
+        class mp:public epdf{
+        public:
+                mp():epdf(){set_dim(N);}
+                vec sample() const {return zeros(N);}
+                double evallog(const vec &v) const {return 0.0;}
+                vec mean() const {vec tmp(N); mpf_th(tmp._data()); return tmp;}
+                vec variance() const {return zeros(N);}
+        };
+        
+        mp mypdf;
+        const mp& posterior() const {return mypdf;}
+};
+UIREGISTER(MPF_pmsm_red);