Changeset 1442 for applications

Timestamp:

03/27/12 11:55:36 (12 years ago)

Author:

smidl

Message:

festerexp

Location:

applications/pmsm/simulator_zdenek/ekf_example

Files:

• mpf_double.cpp (modified) (8 diffs)
• test_exp.c (modified) (1 diff)

applications/pmsm/simulator_zdenek/ekf_example/mpf_double.cpp

@@ -1 @@
-#include "mpf_double.h"
 #include "math.h"
 #include <stdio.h>
+#include "fast_exp.h"
+#include "fastexp.h"
+#include "mpf_double.h"
 #include "RArandn.h"
-#include "fast_exp.h"
 
 static floatx om[N];
@@ -18 +19 @@
 static floatx qom;
 static floatx r;
+static floatx rinv;
 
 
@@ -151 +153 @@
                 zeta = *Pt_i/ ( r+*Pt_i*CC );
                 oCC = ( 1-zeta*CC );
-                ro = oCC/r;
+                ro = oCC*rinv;
 
                 Kd = *Pt_i*Cd*ro;
@@ -168 +170 @@
 
                 //lwi[i] = 0.5* ( log ( detRy ) + ( ydC*ydC*zeta -(ydiffd*ydiffd+ydiffq*ydiffq) ) /r ) ;
-                lwi[i] = 0.5*( ydC*ydC*zeta -(ydiffd*ydiffd+ydiffq*ydiffq) ) /r ;
+                lwi[i] = 0.5*( ydC*ydC*zeta -(ydiffd*ydiffd+ydiffq*ydiffq) ) *rinv ;
                 
                 *isdm_i=isd;
@@ -192 +194 @@
         for ( i=0;i<N;i++,lw_i++,w_i++ ) {
 //              *lw_i-=maxlwi;
-                (*w_i)=EXP ( *lw_i ); // always resample -> wmin=1/n;
+                (*w_i)=fasterexp ( *lw_i ); // always resample -> wmin=1/n;
         }
 
@@ -213 +215 @@
         int i;
         r=r0;
+        rinv = 1.0/r;
         qth=qth0;
         qom=qom0;
@@ -303 +306 @@
                 zeta = Pt/ ( r+Pt*CC );
                 oCC = ( 1-zeta*CC );
-                ro = oCC/r;
+                ro = oCC*rinv;
 
                 Kd = Pt*Cd*ro;
@@ -313 +316 @@
                 ypq = Cq*om;
 
-                detRy = ro/r;
+                detRy = ro*rinv;
                 om = om + Kd* ( difid - ypd ) +Kq* ( difiq-ypq );
                 ydiffd = ( ypd-difid );

applications/pmsm/simulator_zdenek/ekf_example/test_exp.c

@@ -1 @@
-#include "fast_exp.h"
+#include "fastexp.h"
 #include <stdio.h>
 int main(){
         double d;
         for (d=-1; d<1; d+=0.01)
-                printf("exp: %f, fast_exp: %f\n", exp(d), EXP(d) );
+                printf("exp: %f, fast_exp: %f\n", exp(d), fasterexp(d) );
         return 0;
 }