Changeset 1466 for applications/pmsm/simulator_zdenek/test_Ch.cpp

Timestamp:

08/02/12 22:43:00 (12 years ago)

Author:

smidl

Message:

opraven test Ch

Files:

• applications/pmsm/simulator_zdenek/test_Ch.cpp (modified) (9 diffs)

applications/pmsm/simulator_zdenek/test_Ch.cpp

@@ -24 +24 @@
                 mat Ch = U*diag(sqrt(D));
                 
-                int PSI[25];
-                int PSICh[25]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
-                int Chf[25]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
-                int Cf[10]={0,0,0,0,0, 0,0,0,0,0};
-                int multip=1<<15;
+                int16 PSI[25];
+                int16 PSICh[25]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
+                int16 Chf[25]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
+                int16 Cf[10]={0,0,0,0,0, 0,0,0,0,0};
+                int16 multip=(1<<15)-1;
                 
         /////////// COPY
@@ -34 +34 @@
         mat_to_int16(Af, PSI);
         mat_to_int16(round_i(Ch*multip),Chf);           
-        int Qf[25];
+        int16 Qf[25];
         mat_to_int16(round_i(sqrt(Q)*multip), Qf);
-        int Rf[2];
+        int16 Rf[2];
         vec_to_int16(round_i(R*multip), Rf);
         
@@ -43 +43 @@
         mmultACh(PSI,Chf,PSICh,5,5);    
         
-        mat PhiCh =round(A*32768)*round(Ch*32768)/32768/32768;
-/*      cout << "A*U" << round_i(PhiU*multip) <<endl;
-        cout << "PSIU: "; for (i=0; i<25;i++) cout << PSIU[i] << ","; cout <<endl;*/
-        
-        imat PChcmp(PSICh,5,5);
+        mat PhiCh =round(A*32768)*round(Ch*32768)/32768/32768;  
+        imat PChcmp;
+        int16_to_mat(PSICh,PChcmp,5,5);
+        cout << "Psi: " << round_i(PhiCh*multip) <<endl;
+        cout << "PSI fix: " << PChcmp <<endl;
         cout << "Delta PSI: " << round_i(PhiCh*multip-PChcmp) <<endl;
         
@@ -83 +83 @@
         }
 
-cout << "PSICh: " << imat(PSICh,5,5) << endl;
-cout << "Qf: " << imat(Qf,5,5) << endl;
+imat M55(5,5);
+int16_to_mat(PSICh,M55,5,5);
+cout << "PSICh: " << M55 << endl;
+int16_to_mat(Qf,M55,5,5);
+cout << "Qf: " << M55 << endl;
 
 Ch = U*diag(sqrt(D));
@@ -96 +99 @@
         cout << endl<<"after householder " <<endl;
 
-        imat Chcmp(PSICh,5,5);
+        imat Chcmp;
+        int16_to_mat(PSICh,Chcmp,5,5);
         cout << "Ch(UD): " << round_i(Ch*multip) << endl;
         cout << "Ch: " << (Chcmp) << endl;
@@ -113 +117 @@
         vec     xp = 2*randu(5)-1;
         
-        int difz[2];
+        int16 difz[2];
         vec_to_int16(round_i(ydif*multip), difz);
-        int xf[5];
+        int16 xf[5];
         vec_to_int16(round_i(xp*multip), xf);
 
@@ -122 +126 @@
         
         
-        int xf_old[5];
-        vec_to_int16(ivec(xf,5),xf_old);
+        int16 xf_old[5];
+        for (int i=0; i<5;i++) xf_old[i]=xf[i];
         
         /////// Test bierman
@@ -164 +168 @@
         mat_to_int16(round_i(C*multip),Cf);             
 
-        cout << "bef Carlson: " << imat(Chf,5,5) << endl;
+        int16_to_mat(Chf,M55,5,5);
+        cout << "bef Carlson: " << M55 << endl;
 
-        carlson_fastC(difz,xf, Chf, Cf,Rf, 2, 5);
+        int16 detS, rem;
+        carlson_fastC(difz,xf, Chf, Cf,Rf, 2, 5, &detS, &rem);
         
         cout << endl<<"after Carlson" <<endl;
@@ -173 +179 @@
 
         {
-                imat Chcmp(Chf,5,5);
+                imat Chcmp;
+                int16_to_mat(Chf,Chcmp,5,5);
+                cout << "Ch: " << round_i(Ch*multip) << endl;
+                cout << "Ch fix: " << Chcmp << endl;
                 cout << "Delta Ch: " << round_i(Ch*multip-Chcmp) << endl;
-                cout << "Delta Ch: " << Chcmp << endl;
         }