Changeset 196 for doprava

Timestamp:

10/29/08 12:59:37 (16 years ago)

Author:

smidl

Message:

 

Location:

doprava

Files:

• k1.cpp (modified) (1 diff)
• matlab (added)
• matlab/itload.m (added)
• matlab/k1.m (added)
• model.h (modified) (2 diffs)

doprava/k1.cpp

@@ -72 +72 @@
                 xt = fxu.eval(xtm,ut);
                 dt = hxu.eval(xt,ut);
+                xtm = xt; //save xt for the next step
 
                 //ESTIMATE

doprava/model.h

@@ -25 +25 @@
                 vec xk=zeros ( RVstav.count() );
 
-                xk ( 0 ) = 2* x0(1) - 1.8* x0(2);  // vycucane z prstu
+                xk ( 0 ) = 0.2* x0(1) - 0.1* x0(2)+ u0(0);  // vycucane z prstu
                 xk ( 1 ) = x0( 0); 
                 xk ( 2 ) = x0(1);
@@ -38 +38 @@
                 if (full) { // priznak full se nastavi na zacatku => je treba naplnit celou matici
                         A = eye(RVstav.count());
-                } else {}; // pokud neni priznak full, staci naplnit jen to co se zmenilo. V tomhle pripade se nemeni nic
+                        A(0,1) = 0.2;
+                        A(0,2) = -0.1;
+                } else {
+                }; // pokud neni priznak full, staci naplnit jen to co se zmenilo. V tomhle pripade se nemeni nic
         }