Changeset 285 for pmsm/TR2245/unitsteps.cpp

Timestamp:

03/05/09 14:03:33 (15 years ago)

Author:

smidl

Message:

unit-step experiment TR2245p

Files:

• pmsm/TR2245/unitsteps.cpp (modified) (7 diffs)

pmsm/TR2245/unitsteps.cpp

@@ -18 +18 @@
 
 #include <stat/loggers_ui.h>
+#include <stat/libEF_ui.h>
 
 #include "../pmsm.h"
@@ -38 +39 @@
         vec Qdiag;
         vec Rdiag;
+
+        mpdf* evolQ ;
         try {
                 // Kalman filter
@@ -43 +46 @@
                 F.lookupValue ( "Npart",Npart );
 
+                UIbuild ( F.lookup ( "Qrw" ),evolQ );
                 Qdiag= getvec ( F.lookup ( "dQ" ) ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
                 Rdiag=getvec ( F.lookup ( "dR" ) );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
         }
         catch UICATCH;
-        // internal model
-        
-        IMpmsm fxu;
-        //                  Rs    Ls        dt       Fmag(Ypm)    kp   p    J     Bf(Mz)
-        fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
+// internal model
+
+IMpmsm fxu;
+//                  Rs    Ls        dt       Fmag(Ypm)    kp   p    J     Bf(Mz)
+fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
         // observation model
         OMpmsm hxu;
@@ -61 +65 @@
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( zeros ( 4 ) ) );
-        KFE.set_rv(rx);
+        KFE.set_rv ( rx );
 
         RV rQ ( "{Q }","4" );
@@ -67 +71 @@
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
-        
-        migamma_fix evolQ ;
+
         MPF<EKFCh_unQ> M;
-        M.set_parameters( &evolQ,&evolQ,Npart);
+        M.set_parameters ( evolQ,evolQ,Npart );
         // initialize
-        evolQ.set_parameters ( 0.1, 10*Qdiag, 1.0 ); //sigma = 1/10 mu
-        evolQ.condition ( 10*Qdiag ); //Zdenek default
-        M.set_statistics ( evolQ._e() , &KFEp );
-        evolQ.set_parameters ( 0.10, 10*Qdiag,0.999 ); //sigma = 1/10 mu
+        evolQ->condition ( 10*Qdiag ); //Zdenek default
+        M.set_statistics ( evolQ->_e() , &KFEp );
         //
 
-        M.set_rv(concat(rQ,rx));
-        
-        dirfilelog *L; UIbuild(F.lookup("logger"), L);// ( "exp/mpf_test",100 );
+        M.set_rv ( concat ( rQ,rx ) );
+
+        dirfilelog *L; UIbuild ( F.lookup ( "logger" ), L );// ( "exp/mpf_test",100 );
         int l_X = L->add ( rx, "xt" );
         int l_D = L->add ( concat ( ry,ru ), "" );
         int l_Q= L->add ( rQ, "" );
-        
-        KFE.set_options("logbounds");
-        KFE.log_add(L,"KF");
-        M.set_options("logbounds");
-        M.log_add(L,"M");
+
+        KFE.set_options ( "logbounds" );
+        KFE.log_add ( L,"KF" );
+        M.set_options ( "logbounds" );
+        M.log_add ( L,"M" );
         L->init();
 
@@ -98 +99 @@
         vec xtm=zeros ( 4 );
         double Ww=0.0;
-        vec vecW=getvec(F.lookup("profile"));
+        vec vecW=getvec ( F.lookup ( "profile" ) );
 
         for ( int tK=1;tK<Ndat;tK++ ) {
@@ -130 +131 @@
                 L->logit ( l_D,concat ( dt,ut ) );
                 L->logit ( l_Q,Qdiag );
-                
-                KFE.logit(L);
-                M.logit(L);
+
+                KFE.logit ( L );
+                M.logit ( L );
                 L->step();
         }