Changeset 1468

Timestamp:

12/16/12 23:05:25 (11 years ago)

Author:

smidl

Message:

uprava generatoru

Location:

applications

Files:

• bdmtoolbox/mex/CMakeLists.txt (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/CMakeLists.txt (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/RArandn.h (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/ekf_mm.cpp (modified) (3 diffs)
• pmsm/simulator_zdenek/ekf_example/ekf_mm.h (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/ekf_obj.h (modified) (5 diffs)
• pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp (modified) (3 diffs)
• pmsm/simulator_zdenek/ekf_example/matrix_vs.h (modified) (1 diff)
• pmsm/simulator_zdenek/ekf_example/mpf_double.cpp (modified) (5 diffs)
• pmsm/simulator_zdenek/ekf_example/mpf_double.h (modified) (2 diffs)
• pmsm/simulator_zdenek/ekf_example/qmath.cpp (modified) (1 diff)

applications/bdmtoolbox/mex/CMakeLists.txt

@@ -30 +30 @@
 MEX(epdf_evallog_mat)
 
+MEX(eEF_lognc)
+
 MEX(bm_bayes)
 MEX(bm_bayes_batch)

applications/pmsm/simulator_zdenek/ekf_example/CMakeLists.txt

@@ -4 +4 @@
 add_executable (test_exp test_exp.c)
 TARGET_LINK_LIBRARIES( test_exp m )
+add_executable (test_rng test_rng.cpp)
+TARGET_LINK_LIBRARIES( test_exp m )
 
 include_directories(../../bdm)

applications/pmsm/simulator_zdenek/ekf_example/RArandn.h

@@ -1 @@
-#define MAXrandn 1000
+#define MAXrandn 997
 static const floatx RArandn[MAXrandn]={
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-1.8383400e-01, -1.6761530e-01, -1.1698891e-01, 1.6848817e-01, -5.0120630e-01, -7.0507642e-01, 5.0816468e-01, -4.2092154e-01, 2.2913337e-01, -9.5949703e-01, -1.4604259e-01, 7.4453803e-01, -8.9049603e-01, 1.3906186e-01, -2.3614430e-01, -7.5459129e-02, -3.5857191e-01, -2.0776349e+00, -1.4354571e-01, 1.3933415e+00, 6.5180409e-01, -3.7713356e-01, -6.6144306e-01, 2.4895798e-01, -3.8351616e-01, -5.2847980e-01, 5.5388364e-02, 1.2537686e+00, -2.5200036e+00, 5.8485612e-01, -1.0080644e+00, 9.4428482e-01, -2.4239571e+00, -2.2383143e-01, 5.8069883e-02, -4.2461402e-01, -2.0291795e-01, -1.5130770e+00, -1.1263519e+00, -8.1500216e-01, 3.6661427e-01, -5.8610676e-01, 1.5374090e+00, 1.4007153e-01, -1.8627667e+00, -4.5419310e-01, -6.5207411e-01, 1.0331788e-01, -2.2063162e-01, -2.7904337e-01, -7.3366201e-01, -6.4533580e-02, -1.4440041e+00, 6.1234029e-01, -1.3235030e+00, -6.6157668e-01, -1.4611451e-01, 2.4808496e-01, -7.6632557e-02, 1.7381700e+00, 1.6219719e+00, 6.2643590e-01, 9.1813590e-02, -8.0760705e-01, -4.6133709e-01, -1.4059692e+00, -3.7452963e-01, -4.7091124e-01, 1.7512956e+00, 7.5322462e-01, 6.4989341e-02, -2.9276426e-01, 8.2822847e-02, 7.6619148e-01, 2.2368499e+00, 3.2688673e-01, 8.6330394e-01, 6.7938660e-01, 5.5475763e-01, 1.0016304e+00, 1.2593651e+00, 4.4151065e-02, -3.1413767e-01, 2.2670764e-01, 9.9669193e-01, 1.2159117e+00, -5.4270242e-01, 9.1222834e-01, -1.7214113e-01, -3.3595464e-01, 5.4148678e-01, 9.3211121e-01, -5.7025265e-01, -1.4986054e+00, -5.0345644e-02, 5.5302477e-01, 8.3497887e-02, 1.5775235e+00, -3.3077420e-01, 7.9515483e-01, -7.8480015e-01, -1.2631215e+00, 6.6665499e-01, -1.3926322e+00, -1.3005625e+00, -6.0502216e-01, -1.4885645e+00, 5.5854296e-01, -2.7735429e-01, -1.2936848e+00, -8.8843518e-01, -9.8652008e-01, -7.1617644e-02, -2.4145909e+00, -6.9434901e-01, -1.3913890e+00, 3.2964780e-01, 5.9854448e-01, 1.4717540e-01, -1.0143899e-01, -2.6349808e+00, 2.8053414e-02, -8.7631013e-01, -2.6547745e-01, -3.2757791e-01, -1.1582475e+00, 5.8005321e-01, 2.3975573e-01, -3.5088492e-01, 8.9209848e-01, 1.5782988e+00, -1.1081739e+00, -2.5931047e-02, -1.1106277e+00, 7.5083418e-01, 5.0016703e-01, -5.1726088e-01, -5.5920949e-01, -7.5337062e-01, 9.2581269e-01, -2.4852032e-01, -1.4983452e-01, -1.2584154e+00, 3.1261988e-01, 2.6902769e+00, 2.8969629e-01, -1.4228030e+00, 2.4678572e-01, -1.4357729e+00, 1.4857313e-01, -1.6930726e+00, 7.1918848e-01, 1.1417728e+00, 1.5519363e+00, 1.3836301e+00, -7.5809225e-01, 4.4266274e-01, 9.1109790e-01, -1.0740856e+00, 2.0176191e-01, 7.6286322e-01, -1.2881872e+00, -9.5296182e-01, 7.7817450e-01, -6.3310696e-03, 5.2448681e-01, 1.3642718e+00, 4.8203933e-01, -7.8706585e-01, 7.5199927e-01, -1.6688791e-01, -8.1622811e-01, 2.0940652e+00, 8.0152532e-02, -9.3729507e-01, 6.3573878e-01, 1.6820280e+00, 5.9363417e-01, 7.9015288e-01, 1.0525385e-01, -1.5857856e-01, 8.7090745e-01, -1.9475893e-01, 7.5474485e-02, -5.2663484e-01, -6.8548438e-01, -2.6838765e-01, -1.1883460e+00, 2.4857898e-01, 1.0245162e-01, -4.1006877e-02, -2.2475823e+00, -5.1077648e-01, 2.4924264e-01, 3.6919671e-01, 1.7919662e-01, -3.7283412e-02, -1.6033099e+00, 3.3937204e-01, -1.3113481e-01, 4.8518979e-01, 5.9875070e-01, -8.6030887e-02, 3.2529205e-01, -3.3514323e-01, -3.2244920e-01, -3.8237413e-01, -9.5337093e-01, 2.3357560e-01, 1.2352447e+00, -5.7853160e-01, -5.0153737e-01, 7.2286352e-01, 3.9498485e-02, 1.5412788e+00, -1.7010528e+00, -1.0337413e+00, -7.6370764e-01, 2.1764260e+00, 4.3161210e-01, -4.4376518e-01, 2.9995868e-02, -3.1567087e-01, 9.7784570e-01, 1.8294874e-02, 8.1796283e-01, 7.0234110e-01, -2.3127056e-01, -1.1368958e-01, 1.2794052e-01, -7.9940970e-01, -2.3861196e-01, -8.9463238e-02, -1.0232642e+00, 9.3753792e-01, -1.1317193e+00, -7.1070209e-01, -1.1695009e+00, 1.0654371e+00, -6.8039374e-01, -1.7257727e+00, 8.1319960e-01, 1.4418666e+00, 6.7227220e-01, 1.3866496e-01, -8.5953393e-01, -7.5225056e-01, 1.2296151e+00, 1.1507544e+00, -6.0802501e-01, 8.0615792e-01, 2.1713285e-01, -3.7346107e-01, -8.3203043e-01, 2.8686630e-01, -1.8188916e+00, -1.5730514e+00, 2.0156657e+00, -7.1982024e-02, 2.6289094e+00, -2.4331695e-01, 1.7327649e-01, 9.2320708e-01, -1.7855300e-01, -5.2170491e-01, 1.4319620e+00, -8.7011745e-01, 8.0754179e-01, -5.1063464e-01, 7.4351413e-01, 8.4789830e-01, -8.2990072e-01, 5.3299443e-01, 1.0328484e+00, -1.0520240e+00, 3.6211374e-01, -3.6786617e-02, -1.2276356e+00, -2.7509887e-01, -1.6043524e-01, -1.0835748e+00, -1.9542127e+00, -9.0948726e-01, -5.5787277e-03, -1.7234899e+00, 1.2630773e+00, -6.0043337e-01, -2.0639248e+00, 1.1091094e-01, 1.4876143e+00, 5.3002142e-02, 1.6198074e-01, -2.6877919e-02, 1.7357619e-01, 8.8216775e-01, 1.8229442e-01, 7.5529542e-01, 5.0803455e-01, 1.3188014e-01, 2.8010411e-01, -9.8284756e-01, -9.4408743e-01, -1.3057516e-02, 3.5434528e-01, -8.9470883e-01, 8.1211102e-01, 1.0953735e-01, 2.7316440e+00, 4.1107915e-01, -1.3068620e+00, 3.8380649e-01, 4.9950368e-01, -5.1078559e-01, 2.3492205e-01, -5.9782511e-01, 2.0770819e-02, 4.1944276e-01, 1.1911037e+00, 7.7121425e-01, -2.6442219e+00, 2.8542990e-01, 8.2609262e-01, -8.1224925e-03, 8.5843816e-01, 7.7478824e-01, 1.3059453e+00, 1.2315025e+00, 9.5856367e-01, -1.6545477e+00, -9.9039601e-01, 6.8523602e-01, -9.7487001e-01, -6.0672564e-01, 6.8679374e-01, 2.0048856e-02, 1.0638006e+00, -1.3410499e+00, 4.7951044e-01, -1.6339740e+00, -1.4426650e+00, 2.9378142e-01, -1.4036408e-01, -1.1303407e+00, -2.9253805e-01, -5.8253587e-01, -8.9634828e-01, 2.4860108e-01, -1.4896634e+00, 3.1350866e-01, -2.0250844e+00, 5.2898970e-01, 3.4347090e-01, 7.5819261e-01, -6.9194018e-01, 6.8017855e-01, -1.0725410e+00, 8.9977209e-01, -2.1230924e+00, 2.8471227e-01, -7.3332293e-01, -7.7337563e-01, 1.5184172e-01, -3.3684313e-01, 9.7076072e-01, -1.0723636e-01, 1.0134919e+00, -4.7534676e-01, 6.8948145e-02, 3.9859207e-01, 1.1163262e+00, 6.2045113e-01, -2.8767448e-01, -1.3717733e+00, -6.8586843e-01, 3.3168474e-01, -9.9772182e-01, 2.9141810e-01, 1.1070784e+00, 2.4495861e-01, 1.6497578e-01, 4.0623134e-01, 1.2159812e+00, 1.4484243e+00, -1.0251375e+00, 2.0541801e-01, 5.8888219e-01, -2.6402362e-01, 2.4953178e+00, 8.5594767e-01, -8.5095363e-01, 8.1187884e-01, 7.0024172e-01, 7.5993833e-01, -1.7129092e+00, 1.5370212e+00, -1.6098468e+00, 1.1095260e+00, -1.1097040e+00, 3.8546939e-01, 9.6523079e-01, 8.1829723e-01, 3.7048779e-02, -9.2601240e-01, -1.1191866e-01, -8.0302969e-01, -1.6650059e+00, -9.0140060e-01, 5.8834967e-01, 5.5415928e-01, -4.1517261e-01, 6.1794859e-02, 4.5743157e-01, 1.9901391e-01, 2.5755782e-01, 2.0807298e+00, -2.2772365e+00, 3.3902243e-01, 2.8989389e-01, 6.6226085e-01, -5.8086023e-01, 8.8775191e-01, 1.7187104e-01, 8.4882144e-01, 9.6376903e-01, 1.3219180e+00, -6.4344903e-02, 1.3170531e+00, 2.2801733e-01, -1.4296372e+00, -1.4970100e-01, -5.0496756e-01, -1.7291415e+00, -4.1747222e-01, -6.1496852e-01, 7.2077668e-01, 3.3936379e-01, 8.8284508e-01, 2.8424521e-01, -1.4554135e-01, -8.9645900e-02, 2.8916087e-01, 1.1648308e+00, 8.0572935e-01, -1.3556435e+00, 1.2089290e-01, -2.2217791e-01, 5.7173234e-01, -3.0014043e-01, 1.1342768e+00, -1.7935641e-01, -1.4670667e+00, 1.3953457e+00, 4.4083567e-01, 5.6538405e-01, -6.9362259e-01, 8.3386925e-01, -2.2373784e+00, 1.0976441e+00, -1.6169159e-03, -1.6145733e+00, -1.2287268e+00, 2.0740458e-01, 2.2094200e-01, -1.0060731e+00, -4.5306709e-01, 1.3994533e+00, -4.6196398e-01, 3.2715905e-02, 7.9878320e-01, 8.9681579e-01, 1.3789173e-01, -1.6191464e+00, -1.6466057e+00, 4.2870688e-01, -7.3723084e-01, 5.6492614e-01, -1.3841667e+00, 4.6026799e-01, 6.2938365e-01, 3.7984731e-01, -1.0133299e+00, -3.4724278e-01, 4.4191230e-01, -1.5902403e+00, -7.0141671e-01, -1.0776006e+00, 1.0022197e+00, 1.7294805e+00, 7.0903221e-01, -7.4789686e-01, 2.2886239e-01, -2.2349661e-01, -8.5327526e-01, 3.4562680e-01, 1.0976448e-01, -1.1330390e+00, -6.8312354e-01, -2.7785623e-01, 6.5478985e-01, -1.2483940e+00, -5.9753903e-01, -4.8181255e-01, 9.8337217e-01, 1.7621207e+00, 1.4274017e+00, 9.1176303e-01, 3.2682265e-01, 6.9618540e-02, -1.4997627e+00, -4.1822319e-01, -2.1036798e-02, 2.2842453e-01, -1.0081958e+00, -6.6462217e-01, 5.5817658e-01, -1.1885421e+00, -7.7548150e-01, 2.7104207e-01, 1.5349757e+00, -1.0522827e+00, 6.2555857e-01, -7.9762607e-01, -3.1352199e-01, -6.0220975e-01, 1.2590603e+00, 8.5848425e-01, -2.1052919e+00, -3.6093718e-01, 5.5355672e-01, -1.5563838e+00, -2.0666572e-01, -4.2556755e-01, 4.9377825e-01, -8.7090761e-01, 7.9827658e-02, -5.2161914e-01, -1.4138609e+00, -3.8429318e-01, -4.5792222e-01, -2.9147069e-01, -3.0122401e-01, -1.5885938e+00, 1.0942867e+00, 1.3241669e+00, -1.2647963e-01, -7.3716382e-01, 2.1371884e-01, -4.0052913e-01, 6.4937747e-02};//, -1.7579956e+00, 1.6867480e+00, 3.2740021e-01};
 static const floatx *randn_i=&RArandn[0];
 const static floatx *randn_last=&RArandn[MAXrandn-1];

applications/pmsm/simulator_zdenek/ekf_example/ekf_mm.cpp

@@ -5 +5 @@
 
 
-void ekfCh2(ekf_data *E, int16 ux, int16 uy, int16 isx, int16 isy, int16 *detS, int16 *rem)
+void ekfCh2(ekf_data *E, int16 ux, int16 uy, int16 isx, int16 isy, int32 *detS, int16 *rem)
 {
         int16 t_sin,t_cos;
@@ -45 +45 @@
         E->y_old[1] = isy;
         
-        *detS = 32767; *rem=0;
         carlson_fastC(E->difz,E->x_est,E->Chf,E->C,E->dR,2,2, detS, rem);
 }
@@ -84 +83 @@
 void ekfmm(ekf_data* E1, ekf_data* E2, int16 ux, int16 uy, int16 isx, int16 isy)
 {
-        int16 det1, det2, rem1, rem2;
+        int32 det1, det2;
+        int16 rem1, rem2;
         ekfCh2(E1, ux,uy,isx,isy,&det1,&rem1);
         ekfCh2(E2, ux,uy,isx,isy,&det2,&rem2);

applications/pmsm/simulator_zdenek/ekf_example/ekf_mm.h

@@ -41 +41 @@
 
 void init_ekfCh2( ekf_data *E, double Tv);
-void ekfCh2(ekf_data *E, int16 ux, int16 uy, int16 isx, int16 isy, int16 *detS, int16 *rem);
+void ekfCh2(ekf_data *E, int16 ux, int16 uy, int16 isx, int16 isy, int32 *detS, int16 *rem);
 
 void ekfmm(ekf_data *E1, ekf_data *E2, int16  ux, int16 uy, int16 isx, int16 isy);

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp

@@ -1087 +1087 @@
         int16 dR[2];dR[0]=R[0];dR[1]=R[3];
         //int16 xb[4]; xb[0]=x_est[0]<<2; xb[1]=x_est[1]<<2;  xb[2]=x_est[2]<<2;  xb[3]=x_est[3];  
-        int16 detS, rem;
-        detS = 32767; rem=0;
+        int16 rem;
+        int32 detS;
         carlson_fastC(difz,x_est,Chf,C,dR,2,2, &detS, &rem);
         //x_est[0] = xb[0]>>2; x_est[1]=xb[1]>>2; x_est[2]=xb[2]>>2; x_est[3]=xb[3];

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -581 +581 @@
         
         class mp:public epdf{
-                LOG_LEVEL(mp,logth);
+                LOG_LEVEL(mp,logth,logom);
         public:
-                mp():epdf(){set_dim(3);         log_level[logth]=true;
+                mp():epdf(){set_dim(3);         log_level[logth]=true;log_level[logom]=true;
 }
                 vec sample() const {return zeros(3);}
@@ -600 +600 @@
                                 L.add_vector( log_level, logth, RV ( th_dim ), prefix );
                         }
+                        if ( log_level[logom] ) {
+                                int th_dim = N; // dimension - dimension of cov
+                                L.add_vector( log_level, logom, RV ( th_dim ), prefix );
+                        }
                 }
                 void log_write() const {
@@ -609 +613 @@
                                 for(int i=0;i<N;i++){th(i)=Th[i];}
                                 log_level.store( logth, th );
+                        }
+                        if ( log_level[logom] ) {
+                                floatx Om[N];
+                                mpf_om(Om);
+                                vec om(N); 
+                                for(int i=0;i<N;i++){om(i)=Om[i];}
+                                log_level.store( logom, om );
                         }
                 }
@@ -730 +741 @@
                 yy=prevod(val[1]/Iref,15);
                 
-                int16 detS, rem;
-                ekfCh2(&E, ux,uy,yx,yy, &detS, &rem);
-                
-                Est._mu()=vec_2(E.x_est[0]*Uref/32768., E.x_est[1]*Uref/32768.);
-                
-                ll = -0.5*qlog(detS)-0.5*rem;
+                int32 detS;
+                int16 rem;
+                ekfCh2(&E, ux,uy,yx,yy, &detS, &rem); //detS,rem asssigned inside
+                
+                Est._mu()=vec_2(E.x_est[0]*Wref/32768., E.x_est[1]*Thetaref/32768.);
+                
+                ll = 0.99*ll+( -0.5*(double)rem/32767)*10000-0.0*log((double)detS); // detS in q(8+15+15)-(8+8). - multiplicative differece is not important
         }
         const epdf& posterior() const {return Est;};
@@ -788 +800 @@
                 yy=prevod(val[1]/Iref,15);
                 
-                int16 detS, rem;
+                int16  rem;
+                int32 detS;
                 ekfCh2(&E, ux,uy,yx,yy, &detS, &rem);
                 

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp

@@ -669 +669 @@
 }
 
-void carlson_fastC(int16 *difz, int16 *xp, int16 *Ch, int16 *C, int16 *R, unsigned int16 dimy, unsigned int16 dimx, int16 *detS, int16 *rem ) {
+void carlson_fastC(int16 *difz, int16 *xp, int16 *Ch, int16 *C, int16 *R, unsigned int16 dimy, unsigned int16 dimx, int32 *detS, int16 *rem ) {
         int16 alpha,beta,gamma;
         int16 delta, eta,epsilon,zeta,sigma,tau;
@@ -678 +678 @@
         int16 *Ch_ij, *w_i, *x_i, *C_yi;
         
-        *detS = 32767;
+        *detS = 1;//
+        *rem = 0;
         for (iy=0; iy<dimy; iy++)
         {
@@ -741 +742 @@
                 }
                 
-                *detS = ((int32)*detS*alpha+(1<<14))>>8;
                 *rem += ((int32)delta*delta)/alpha;
-        }
-}
-
+                *detS = ((int32)*detS*alpha); // !!! unshifterd!!, ie.e multipled by q15, all numbers are small
+                printf("%d %d %d %d\n", delta, alpha, *rem, *detS);
+        }
+        printf("\n");
+}
+

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.h

@@ -60 +60 @@
 
 /* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/
-extern void carlson_fastC(int16* difz, int16* xp, int16* Ch, int16* C, int16* R, unsigned int16 dimy, unsigned int16 dimx, int16* detS, int16* rem );
+extern void carlson_fastC(int16* difz, int16* xp, int16* Ch, int16* C, int16* R, unsigned int16 dimy, unsigned int16 dimx, int32* detS, int16* rem );

applications/pmsm/simulator_zdenek/ekf_example/mpf_double.cpp

@@ -4 +4 @@
 #include "fastexp.h"
 #include "mpf_double.h"
-#include "RArandn.h"
 
 static floatx om[N];
@@ -21 +20 @@
 static floatx rinv;
 
-
+#if 1
+#include "RArandn.h"
 floatx qrandu() {
         if ( randu_i==randu_last )
@@ -39 +39 @@
         return *randn_i;
 }
+
+void rng_init()
+{
+randu_i=&RArandu[0];
+randn_i=&RArandn[0];
+}
+
+#else
+
+#include "rnor.h"
+floatx qrandu() {
+        return UNI;
+}
+
+floatx qrandn() {
+        return PolarRNG();
+}
+
+void rng_init()
+{
+zigset(86947731 );
+}
+
+
+#endif
+
 
 void resample() {
@@ -213 +239 @@
 
 void mpf_init(floatx qom0, floatx qth0, floatx r0) {
+        
+        rng_init();
+        
         int i;
         r=r0;
@@ -252 +281 @@
         for (i=0;i<N;i++) th1[i]=th[i];
 }
+void mpf_om(floatx om1[N]){
+        int i;
+        for (i=0;i<N;i++) om1[i]=om[i];
+}
 
 floatx kalman_om( const floatx isa, const floatx isb , const floatx usa, const floatx usb, const floatx th ) {

applications/pmsm/simulator_zdenek/ekf_example/mpf_double.h

@@ -21 +21 @@
 floatx qrandn();
 floatx qrandu();
+void rng_init();
 
 void mpf_bayes ( const floatx isa, const floatx isb , const floatx usa, const floatx usb );
@@ -26 +27 @@
 void mpf_mean(floatx *Ecosth, floatx *Esinth, floatx *Eome);
 void mpf_th(floatx th1[N]);
+void mpf_om(floatx om1[N]);
 
 floatx kalman_om ( const floatx isa, const floatx isb , const floatx usa, const floatx usb, const floatx th );

applications/pmsm/simulator_zdenek/ekf_example/qmath.cpp

@@ -28 +28 @@
                 return -32768;
         else
-                return prevod(log(x/32768.),15);
+                return prevod(log(x/32768.)/11,15); // log (1/32768) = -10.39. log(x) is scaled to -11:0
 }