Changeset 357

CMakeLists.txt

r341	r357
10	10	# location of the FindXXX.cmake file must be added to the cmake modules
11	11	# list from within a CMakeLists.txt file as follows:
12		set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}\\~~CMake_modules~~\\")
	12	set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}\\system\\")
13	13
14	14	######################
…	…
18	18	# THEN IT IS NECESSARY TO CREATE TEXT FILE "\system\WIN32\LOCAL_PATHS.TXT" WITH
19	19	# COPIES OF THE TWO FOLLOWING LINES AND THEN CORECT ALL THE INVOLVED PATHS
20		SET(ITPP_DIR "${BDM_SOURCE_DIR}\\system\\\\win32\\itpp-4.0.6")
	20	SET(ITPP_DIR "${BDM_SOURCE_DIR}\\system\\win32\\itpp-4.0.6")
21	21	SET(ACML_DIR "${BDM_SOURCE_DIR}\\system\\win32\\acml3.6.0")
22	22

applications/doprava/k1.cpp

r341	r357
13	13
14	14	#include <estim/ekf_templ.h>
15		~~#include <stat/loggers_ui.h>~~
16		~~#include <stat/libDS_ui.h>~~
17	15
18	16	//include dopravni model
19	17	#include "model.h"
	18	#include "stat\libDS.h"
	19	#include "stat\loggers.h"
20	20
21	21	using namespace bdm;

applications/mpdm/CMakeLists.txt

r299	r357
1		# Make sure the compiler can find include files from our Bdm library.
2		include_directories (${BDM_SOURCE_DIR}/bdm)
3		link_directories (${BDM_BINARY_DIR}/bdm)
	1	# Compulsory line
	2	cmake_minimum_required(VERSION 2.6)
4	3
5		EXEC(merg_pred)
6		EXEC(merg_giw)
7		EXEC(TR2244/merger_iter_cond)
8		EXEC(SYSID09/merg_2a)
	4	add_subdirectory (SYSID09)
	5	add_subdirectory (TR2244)
	6

applications/pmsm/CMakeLists.txt

r284	r357
13	13	## Build simulator
14	14	add_subdirectory (simulator_zdenek)
15		add_subdirectory (simulator_zdenek/ekf_example)
	15	#add_subdirectory (simulator_zdenek/ekf_example)
16	16
17	17	## Use it

applications/pmsm/TR2245/pmsm_wishart.cpp

r332	r357
17	17	#include <stat/libFN.h>
18	18
19		#include <stat/loggers_ui.h>
20		#include <stat/libEF_ui.h>
21
22		#include "../pmsm_ui.h"
	19	#include "user_info.h"
	20	#include "../pmsmDS.h"
23	21
24	22	using namespace bdm;
…	…
28	26	if ( argc>1 ) {fname = argv[1]; }
29	27	else { fname = "pmsm_wishart.cfg"; }
30		UIFile F ( fname );
	28	UI_File F ( fname );
	29
	30	double h = 1e-6;
	31	int Nsimstep = 125;
	32
	33	// Kalman filter
	34	double k;
	35	double l;
	36	F.lookupValue ( "k",k);
	37	F.lookupValue ( "l",l);
31	38
32	39	int Ndat;
33	40	int Npart;
34		~~double h = 1e-6~~;
35		~~int Nsimstep = 125~~;
	41	F.lookupValue ( "ndat", Ndat );
	42	F.lookupValue ( "Npart", Npart );
36	43
37	44	vec Qdiag;
38	45	vec Rdiag;
	46	UI::get( Qdiag, F, "dQ" ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
	47	UI::get( Rdiag, F, "dR" );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
	48
	49	pmsmDS* DS = UI::build<pmsmDS>(F,"system");
	50	// mpdf* evolQ = UI::build<mpdf>( F, "Qrw" );
39	51
40		pmsmDS* DS;
41
42		double k;
43		double l;
44		// mpdf* evolQ ;
45		try {
46		// Kalman filter
47		F.lookupValue ( "ndat", Ndat );
48		F.lookupValue ( "Npart",Npart );
49
50		F.lookupValue ( "k", k);
51		F.lookupValue ( "l",l);
52
53		// UIbuild ( F.lookup ( "Qrw" ),evolQ );
54		Qdiag= getvec ( F.lookup ( "dQ" ) ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
55		Rdiag=getvec ( F.lookup ( "dR" ) );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
56
57		UIbuild(F.lookup("system"),DS);
58		}
59		catch UICATCH;
60		// internal model
61
62		IMpmsm fxu;
63		// Rs Ls dt Fmag(Ypm) kp p J Bf(Mz)
64		fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
	52	// internal model
	53	IMpmsm fxu;
	54	// Rs Ls dt Fmag(Ypm) kp p J Bf(Mz)
	55	fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
65	56	// observation model
66	57	OMpmsm hxu;
…	…
91	82	M.set_rv ( concat ( rQ,rx ) );
92	83
93		dirfilelog *L~~; UIbuild ( F.lookup ( "logger" ), L~~ );// ( "exp/mpf_test",100 );
	84	dirfilelog *L = UI::build<dirfilelog> ( F, "logger" );// ( "exp/mpf_test",100 );
94	85
95	86	KFE.set_options ( "logbounds" );

applications/pmsm/TR2245/unitsteps.cpp

r317	r357
17	17	#include <stat/libFN.h>
18	18
19		~~#include <stat/loggers_ui.h>~~
20		~~#include <stat/libEF_ui.h>~~
21	19
22	20	#include "../pmsm.h"
23	21	#include "simulator.h"
24	22	#include "../sim_profiles.h"
	23	#include "user_info.h"
	24	#include "stat/loggers.h"
25	25
26	26	using namespace bdm;
…	…
30	30	if ( argc>1 ) {fname = argv[1]; }
31	31	else { fname = "unitsteps.cfg"; }
32		UIFile F ( fname );
	32	UI_File F ( fname );
33	33
34		~~int Ndat;~~
35		~~int Npart;~~
36	34	double h = 1e-6;
37	35	int Nsimstep = 125;
38	36
	37
	38	// Kalman filter
	39	int Ndat;
	40	int Npart;
	41	F.lookupValue ( "ndat", Ndat );
	42	F.lookupValue ( "Npart",Npart );
	43	mpdf* evolQ = UI::build<mpdf>( F, "Qrw" );
39	44	vec Qdiag;
40	45	vec Rdiag;
	46	UI::get( Qdiag, F, "dQ" ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
	47	UI::get( Rdiag, F, "dR" );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
41	48
42		mpdf* evolQ ;
43		try {
44		// Kalman filter
45		F.lookupValue ( "ndat", Ndat );
46		F.lookupValue ( "Npart",Npart );
47
48		UIbuild ( F.lookup ( "Qrw" ),evolQ );
49		Qdiag= getvec ( F.lookup ( "dQ" ) ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
50		Rdiag=getvec ( F.lookup ( "dR" ) );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
51		}
52		catch UICATCH;
53		// internal model
	49	// internal model
54	50
55	51	IMpmsm fxu;
…	…
81	77	M.set_rv ( concat ( rQ,rx ) );
82	78
83		dirfilelog *L~~; UIbuild ( F.lookup ( "logger" ), L~~ );// ( "exp/mpf_test",100 );
	79	dirfilelog *L = UI::build<dirfilelog>( F, "logger" );// ( "exp/mpf_test",100 );
84	80	int l_X = L->add ( rx, "xt" );
85	81	int l_D = L->add ( concat ( ry,ru ), "" );
…	…
99	95	vec xtm=zeros ( 4 );
100	96	double Ww=0.0;
101		vec vecW=getvec ( F.lookup ( "profile" ) );
	97	vec vecW;
	98	UI::get( vecW, F, "profile" );
102	99
103	100	for ( int tK=1;tK<Ndat;tK++ ) {

applications/pmsm/TR2245/wishart.cpp

r317	r357
17	17	#include <stat/libFN.h>
18	18
19		~~#include <stat/loggers_ui.h>~~
20		~~#include <stat/libEF_ui.h>~~
21
22	19	#include "../pmsm.h"
23	20	#include "simulator.h"
24	21	#include "../sim_profiles.h"
	22	#include "user_info.h"
	23	#include "stat/loggers.h"
25	24
26	25	using namespace bdm;
…	…
30	29	if ( argc>1 ) {fname = argv[1]; }
31	30	else { fname = "unitsteps.cfg"; }
32		UIFile F ( fname );
	31	UI_File F ( fname );
33	32
	33	double h = 1e-6;
34	34	int Ndat;
35	35	int Npart;
36		double h = 1e-6;
	36	F.lookupValue ( "ndat", Ndat );
	37	F.lookupValue ( "Npart",Npart );
37	38	int Nsimstep = 125;
38	39
	40	// Kalman filter
39	41	vec Qdiag;
	42	UI::get( Qdiag, F, "dQ" ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
	43
40	44	vec Rdiag;
	45	UI::get( Rdiag, F, "dR" );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
41	46
42		// mpdf* evolQ ;
43		try {
44		// Kalman filter
45		F.lookupValue ( "ndat", Ndat );
46		F.lookupValue ( "Npart",Npart );
47
48		// UIbuild ( F.lookup ( "Qrw" ),evolQ );
49		Qdiag= getvec ( F.lookup ( "dQ" ) ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
50		Rdiag=getvec ( F.lookup ( "dR" ) );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
51		}
52		catch UICATCH;
53		// internal model
54
55		IMpmsm fxu;
56		// Rs Ls dt Fmag(Ypm) kp p J Bf(Mz)
57		fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
	47	// internal model
	48	IMpmsm fxu;
	49	// Rs Ls dt Fmag(Ypm) kp p J Bf(Mz)
	50	fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
58	51	// observation model
59	52	OMpmsm hxu;
…	…
84	77	M.set_rv ( concat ( rQ,rx ) );
85	78
86		dirfilelog *L~~; UIbuild ( F.lookup ( "logger" ), L~~ );// ( "exp/mpf_test",100 );
	79	dirfilelog *L = UI::build<dirfilelog> ( F, "logger" );// ( "exp/mpf_test",100 );
87	80	int l_X = L->add ( rx, "xt" );
88	81	int l_D = L->add ( concat ( ry,ru ), "" );
…	…
103	96	vec xtm=zeros ( 4 );
104	97	double Ww=0.0;
105		vec vecW=getvec ( F.lookup ( "profile" ) );
	98	vec vecW;
	99	UI::get( vecW, F ,"profile" );
106	100
107	101	mat tQ=diag(Qdiag);

applications/pmsm/pmsm.h

r349	r357
3	3
4	4	#include <stat/libFN.h>
	5	#include "user_info.h"
5	6
6	7	/*! \defgroup PMSM
…	…
94	95
95	96	void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
96		};
97
	97
	98	void from_setting( const Setting &root )
	99	{
	100	set_parameters ( root["params"]["Rs"], root["params"]["Ls"], 125e-6, root["params"]["Fmag"], \
	101	root["params"]["kp"], root["params"]["p"], root["params"]["J"], 0.0 );
	102	};
	103
	104	// TODO dodelat void to_setting( Setting &root ) const;
	105	};
	106
	107	UIREGISTER ( IMpmsm );
98	108
99	109	//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$
…	…
182	192	};
183	193
	194
	195	UIREGISTER ( IMpmsm2o );
	196
184	197	//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$
185	198	class IMpmsmStat : public IMpmsm {
…	…
234	247	};
235	248
	249	UIREGISTER ( IMpmsmStat );
	250
	251
236	252	//! State for PMSM with unknown Mz
237	253	class IMpmsmMz: public IMpmsm{
…	…
256	272	};
257	273
	274	UIREGISTER ( IMpmsmMz );
	275
258	276	//! State for PMSM with unknown Mz
259	277	class IMpmsmStatMz: public IMpmsmStat{
…	…
278	296	};
279	297
	298	UIREGISTER ( IMpmsmStatMz );
	299
280	300
281	301	//! Observation model for PMSM drive and its derivative with respect to \f$x\f$
…	…
298	318	};
299	319
	320	UIREGISTER ( OMpmsm );
	321
300	322	//! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations
301	323	class OMpmsm4: public diffbifn {
…	…
314	336	};
315	337
	338	UIREGISTER ( OMpmsm4 );
	339
	340
	341
	342
	343
316	344	/!@}/
317	345	#endif //PMSM_H

applications/pmsm/pmsmDS.h

r349	r357
17	17
18	18	//! Simulator of PMSM machine with predefined profile on omega
19		class pmsmDS : public DS {
	19	class pmsmDS : public DS
	20	{
20	21
21	22	protected:
22		//! indeces of logged variables
23		int L_x, L_ou, L_oy, L_iu, L_optu;
24		//! Setpoints of omega in timespans given by dt_prof
25		vec profileWw;
26		//! Setpoints of Mz in timespans given by dt_prof
27		vec profileMz;
28		//! time-step for profiles
29		double dt_prof;
30		//! Number of miliseconds per discrete time step
31		int Dt;
32		//! options for logging, - log predictions of 'true' voltage
33		bool opt_modu;
34		//! options for logging, -
	23	//! indeces of logged variables
	24	int L_x, L_ou, L_oy, L_iu, L_optu;
	25	//! Setpoints of omega in timespans given by dt_prof
	26	vec profileWw;
	27	//! Setpoints of Mz in timespans given by dt_prof
	28	vec profileMz;
	29	//! time-step for profiles
	30	double dt_prof;
	31	//! Number of miliseconds per discrete time step
	32	int Dt;
	33	//! options for logging, - log predictions of 'true' voltage
	34	bool opt_modu;
	35	//! options for logging, -
35	36	public:
36		//! Constructor with fixed sampling period
37		pmsmDS () {Dt=125; Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );}
38		void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) {
39		pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
40		}
41		//! parse options: "modelu" => opt_modu=true;
42		void set_options ( string &opt ) {
43		opt_modu = ( opt.find ( "modelu" ) !=string::npos );
44		}
45		void getdata ( vec &dt ) {dt.set_subvector(0,vec ( KalmanObs,6 ));dt(6)=x[2];dt(7)=x[3];dt(8)=x[8];}
46		void write ( vec &ut ) {}
47
48		void step() {
49		static int ind=0;
50		static double dW; // increase of W
51		static double Ww; // W
52		static double Mz; // W
53		if ( t>=dt_prof*ind ) {
54		ind++;
55		// check omega profile and set dW
56		if ( ind<profileWw.length() ) {
57		//linear increase
58		if ( profileWw.length() ==1 ) {
59		Ww=profileWw ( 0 ); dW=0.0;
60		}
61		else {
62		dW = profileWw ( ind )-profileWw ( ind-1 );
63		dW *=125e-6/dt_prof;
64		}
65		}
66		else {
67		dW = 0;
68		}
69		// Check Mz profile and set Mz
70		if ( ind<profileMz.length() ) {
71		//sudden increase
72		Mz = profileMz(ind);
73		}
74		else {
75		Mz = 0;
76		}
77		}
78		Ww += dW;
79		//Simulate Dt seconds!
80		for ( int i=0;i<Dt;i++ ) { pmsmsim_step ( Ww , Mz);}
	37	//! Constructor with fixed sampling period
	38	pmsmDS ()
	39	{
	40	Dt=125;
	41	Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
	42	}
	43	void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 )
	44	{
	45	pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
	46	}
	47	//! parse options: "modelu" => opt_modu=true;
	48	void set_options ( string &opt )
	49	{
	50	opt_modu = ( opt.find ( "modelu" ) !=string::npos );
	51	}
	52	void getdata ( vec &dt )
	53	{
	54	dt.set_subvector(0,vec ( KalmanObs,6 ));
	55	dt(6)=x[2];
	56	dt(7)=x[3];
	57	dt(8)=x[8];
	58	}
	59	void write ( vec &ut ) {}
	60
	61	void step()
	62	{
	63	static int ind=0;
	64	static double dW; // increase of W
	65	static double Ww; // W
	66	static double Mz; // W
	67	if ( t>=dt_prof*ind )
	68	{
	69	ind++;
	70	// check omega profile and set dW
	71	if ( ind<profileWw.length() )
	72	{
	73	//linear increase
	74	if ( profileWw.length() ==1 )
	75	{
	76	Ww=profileWw ( 0 );
	77	dW=0.0;
	78	}
	79	else
	80	{
	81	dW = profileWw ( ind )-profileWw ( ind-1 );
	82	dW *=125e-6/dt_prof;
	83	}
	84	}
	85	else
	86	{
	87	dW = 0;
	88	}
	89	// Check Mz profile and set Mz
	90	if ( ind<profileMz.length() )
	91	{
	92	//sudden increase
	93	Mz = profileMz(ind);
	94	}
	95	else
	96	{
	97	Mz = 0;
	98	}
	99	}
	100	Ww += dW;
	101	//Simulate Dt seconds!
	102	for ( int i=0; i<Dt; i++ )
	103	{
	104	pmsmsim_step ( Ww , Mz);
	105	}
81	106	// for ( int i=0;i<Dt;i++ ) { pmsmsim_noreg_step ( Ww , Mz);}
82
83		//discretization
84		double ustep=1.2;
85		KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ;
86		KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep);
87		double istep=0.085;
88		KalmanObs [ 2 ] = istep*itpp::round( KalmanObs [ 2 ]/ istep) ;
89		KalmanObs [ 3 ] = istep*itpp::round(KalmanObs [ 3 ]/ istep);
90
91		};
92
93		void log_add ( logger &L ) {
94		L_x = L.add ( rx, "x" );
95		L_oy = L.add ( ry, "o" );
96		L_ou = L.add ( ru, "o" );
97		L_iu = L.add ( ru, "t" );
98		// log differences
99		if ( opt_modu ) {
100		L_optu = L.add ( ru, "model" );
101		}
102		}
103
104		void logit ( logger &L ) {
105		L.logit ( L_x, vec ( x,4 ) );
106		L.logit ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
107		L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
108		L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
109		if ( opt_modu ) {
110		double sq3=sqrt ( 3.0 );
111		double ua,ub;
112		double i1=x[0];
113		double i2=0.5* ( -i1+sq3*x[1] );
114		double i3=0.5* ( -i1-sq3*x[1] );
115		double u1=KalmanObs[0];
116		double u2=0.5* ( -u1+sq3*KalmanObs[1] );
117		double u3=0.5* ( -u1-sq3*KalmanObs[1] );
118
119		double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1;
120		double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2;
121		double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3;
122		ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
123		ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
124		L.logit ( L_optu , vec_2 ( ua,ub ) );
125		}
126
127		}
128
129		void set_profile ( double dt, const vec &Ww, const vec &Mz ) {dt_prof=dt; profileWw=Ww; profileMz=Mz;}
	107
	108	//discretization
	109	double ustep=1.2;
	110	KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ;
	111	KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep);
	112	double istep=0.085;
	113	KalmanObs [ 2 ] = istep*itpp::round( KalmanObs [ 2 ]/ istep) ;
	114	KalmanObs [ 3 ] = istep*itpp::round(KalmanObs [ 3 ]/ istep);
	115
	116	};
	117
	118	void log_add ( logger &L )
	119	{
	120	L_x = L.add ( rx, "x" );
	121	L_oy = L.add ( ry, "o" );
	122	L_ou = L.add ( ru, "o" );
	123	L_iu = L.add ( ru, "t" );
	124	// log differences
	125	if ( opt_modu )
	126	{
	127	L_optu = L.add ( ru, "model" );
	128	}
	129	}
	130
	131	void logit ( logger &L )
	132	{
	133	L.logit ( L_x, vec ( x,4 ) );
	134	L.logit ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
	135	L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
	136	L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
	137	if ( opt_modu )
	138	{
	139	double sq3=sqrt ( 3.0 );
	140	double ua,ub;
	141	double i1=x[0];
	142	double i2=0.5* ( -i1+sq3*x[1] );
	143	double i3=0.5* ( -i1-sq3*x[1] );
	144	double u1=KalmanObs[0];
	145	double u2=0.5* ( -u1+sq3*KalmanObs[1] );
	146	double u3=0.5* ( -u1-sq3*KalmanObs[1] );
	147
	148	double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1;
	149	double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2;
	150	double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3;
	151	ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
	152	ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
	153	L.logit ( L_optu , vec_2 ( ua,ub ) );
	154	}
	155
	156	}
	157
	158	void set_profile ( double dt, const vec &Ww, const vec &Mz )
	159	{
	160	dt_prof=dt;
	161	profileWw=Ww;
	162	profileMz=Mz;
	163	}
	164
	165	void from_setting( const Setting &root )
	166	{
	167	set_parameters ( root["params"]["Rs"], root["params"]["Ls"], root["params"]["Fmag"], \
	168	root["params"]["Bf"], root["params"]["p"], root["params"]["kp"], \
	169	root["params"]["J"], root["params"]["Uc"], root["params"]["DT"], 1.0e-6 );
	170
	171	// Default values of profiles for omega and Mz
	172	vec profW=vec("1.0");
	173	vec profM=vec("0.0");
	174	double tstep=1.0;
	175	root.lookupValue( "tstep", tstep );
	176	UI::get( profW, root, "profileW" );
	177	UI::get( profM, root, "profileM" );
	178	set_profile (tstep , profW, profM);
	179
	180	string opts;
	181	if ( root.lookupValue( "options", opts ) )
	182	set_options(opts);
	183	}
	184
	185	// TODO dodelat void to_setting( Setting &root ) const;
130	186	};
131	187
	188	UIREGISTER ( pmsmDS );
	189
	190
132	191	//! This class behaves like BM but it is evaluating EKF
133		class pmsmCRB : public EKFfull{
134		protected:
135		vec interr;
136		vec old_true;
137		vec secder;
138		int L_CRB;
139		int L_err;
140		int L_sec;
141		public:
142		//! constructor
143		pmsmCRB():EKFfull(){old_true=zeros(6);}
144
145		void bayes(const vec &dt){
146		static vec umin(2);
147		vec u(2);
148		//assume we know state exactly:
149		vec true_state=vec(x,4); // read from pmsm
150		E.set_mu(true_state);
151		mu=true_state;
152
153		//integration error
154		old_true(4)=KalmanObs[4];
155		old_true(5)=KalmanObs[5];// add U
156		u(0) = KalmanObs[0]; // use the required value for derivatives
157		u(1) = KalmanObs[1];
158		interr = (true_state - pfxu->eval(old_true));
159
160		//second derivative
161		IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu);
162		if (pf) {secder=pf->eval2o(u-umin);}
163
164		umin =u;
165		EKFfull::bayes(dt);
166		old_true.set_subvector(0,true_state);
167		}
168
169		void log_add(logger &L, const string &name="" ){
170		L_CRB=L.add(rx,"crb");
171		L_err=L.add(rx,"err");
172		L_sec=L.add(rx,"d2");
173		}
174		void logit(logger &L){
175		L.logit(L_err, interr);
176		L.logit(L_CRB,diag(_R()));
177		L.logit(L_sec,secder);
178		}
	192	class pmsmCRB : public EKFfull
	193	{
	194	protected:
	195	vec interr;
	196	vec old_true;
	197	vec secder;
	198	int L_CRB;
	199	int L_err;
	200	int L_sec;
	201	public:
	202	//! constructor
	203	pmsmCRB():EKFfull()
	204	{
	205	old_true=zeros(6);
	206	}
	207
	208	void bayes(const vec &dt)
	209	{
	210	static vec umin(2);
	211	vec u(2);
	212	//assume we know state exactly:
	213	vec true_state=vec(x,4); // read from pmsm
	214	E.set_mu(true_state);
	215	mu=true_state;
	216
	217	//integration error
	218	old_true(4)=KalmanObs[4];
	219	old_true(5)=KalmanObs[5];// add U
	220	u(0) = KalmanObs[0]; // use the required value for derivatives
	221	u(1) = KalmanObs[1];
	222	interr = (true_state - pfxu->eval(old_true));
	223
	224	//second derivative
	225	IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu);
	226	if (pf)
	227	{
	228	secder=pf->eval2o(u-umin);
	229	}
	230
	231	umin =u;
	232	EKFfull::bayes(dt);
	233	old_true.set_subvector(0,true_state);
	234	}
	235
	236	void log_add(logger &L, const string &name="" )
	237	{
	238	L_CRB=L.add(rx,"crb");
	239	L_err=L.add(rx,"err");
	240	L_sec=L.add(rx,"d2");
	241	}
	242	void logit(logger &L)
	243	{
	244	L.logit(L_err, interr);
	245	L.logit(L_CRB,diag(_R()));
	246	L.logit(L_sec,secder);
	247	}
	248
	249	void from_setting( const Setting &root )
	250	{
	251	diffbifn* IM = UI::build<diffbifn>(root, "IM");
	252	diffbifn* OM = UI::build<diffbifn>(root, "OM");
	253
	254	//parameters
	255
	256	//statistics
	257	int dim=IM->dimension();
	258	vec mu0;
	259	if (!UI::get( mu0, root, "mu0") )
	260	mu0=zeros(dim);
	261	mat P0;
	262	vec dP0;
	263
	264	if (UI::get(dP0,root, "dP0") )
	265	P0=diag(dP0);
	266	else if (!UI::get(P0,root, "P0") )
	267	P0=eye(dim);
	268
	269	set_statistics(mu0,P0);
	270
	271	vec dQ;
	272	UI::get( dQ, root, "dQ");
	273	vec dR;
	274	UI::get( dR, root, "dR");
	275	set_parameters(IM, OM, diag(dQ) , diag(dR));
	276
	277	//connect
	278	RV* drv = UI::build<RV>(root, "drv");
	279	set_drv(*drv);
	280	RV* rv = UI::build<RV>(root, "rv");
	281	set_rv(*rv);
	282	}
	283
	284	// TODO dodelat void to_setting( Setting &root ) const;
179	285	};
180	286
	287	UIREGISTER ( pmsmCRB );
	288
	289
181	290	//! This class behaves like BM but it is evaluating EKF
182		class pmsmCRBMz : public EKFfull{
183		protected:
184		int L_CRB;
185		public:
186		//! constructor
187		pmsmCRBMz():EKFfull(){}
188
189		void bayes(const vec &dt){
	291	class pmsmCRBMz : public EKFfull
	292	{
	293	protected:
	294	int L_CRB;
	295	public:
	296	//! constructor
	297	pmsmCRBMz():EKFfull() {}
	298
	299	void bayes(const vec &dt)
	300	{
190	301	//assume we know state exactly:
191		vec true_state(5);
192		true_state.set_subvector(0,vec(x,4)); // read from pmsm
193		true_state(4)=x[8];
194
195		E.set_mu(true_state);
196		mu = true_state;
197		//hack for ut
198		EKFfull::bayes(dt);
199		}
200
201		void log_add(logger &L, const string &name="" ){
202		L_CRB=L.add(concat(rx,RV("Mz",1,0)),"crbz");
203		}
204		void logit(logger &L){
205		L.logit(L_CRB,diag(_R()));
206		}
	302	vec true_state(5);
	303	true_state.set_subvector(0,vec(x,4)); // read from pmsm
	304	true_state(4)=x[8];
	305
	306	E.set_mu(true_state);
	307	mu = true_state;
	308	//hack for ut
	309	EKFfull::bayes(dt);
	310	}
	311
	312	void log_add(logger &L, const string &name="" )
	313	{
	314	L_CRB=L.add(concat(rx,RV("Mz",1,0)),"crbz");
	315	}
	316	void logit(logger &L)
	317	{
	318	L.logit(L_CRB,diag(_R()));
	319	}
	320
	321	void from_setting( const Setting &root )
	322	{
	323	diffbifn* IM = UI::build<diffbifn>(root,"IM");
	324	diffbifn* OM = UI::build<diffbifn>(root,"OM");
	325
	326	//statistics
	327	int dim=IM->dimension();
	328	vec mu0;
	329	vec dP0;
	330	mat P0;
	331	if (!UI::get(mu0, root, "mu0"))
	332	mu0=zeros(dim);
	333	if (!UI::get( P0, root, "P0" ))
	334	if (UI::get(dP0, root, "dP0"))
	335	P0=diag(dP0);
	336	else
	337	P0=eye(dim);
	338
	339	set_statistics(mu0,P0);
	340
	341	vec dQ;
	342	UI::get(dQ, root, "dQ");
	343	vec dR;
	344	UI::get(dR, root, "dR");
	345	set_parameters(IM, OM, diag(dQ), diag(dR));
	346
	347	//connect
	348	RV* drv = UI::build<RV>(root, "drv");
	349	set_drv(*drv);
	350	RV* rv = UI::build<RV>(root, "rv");
	351	set_rv(*rv);
	352	}
	353
	354	// TODO dodelat void to_setting( Setting &root ) const;
207	355	};
	356
	357	UIREGISTER ( pmsmCRBMz );

applications/pmsm/pmsm_estim.cpp

r342	r357
7	7	*/
8	8
9		#include "pmsm_ui.h"
10		#include "stat/loggers_ui.h"
11		#include "estim/KF_ui.h"
12		#include "stat/libDS_ui.h"
	9	#include "user_info.h"
	10	#include "stat/loggers.h"
13	11
14	12	using namespace bdm;
…	…
17	15	if ( argc>1 ) {fname = argv[1]; }
18	16	else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); }
19		UIFile F ( fname );
	17	UI_File F ( fname );
20	18
21		logger* L;
22		DS * DS;
	19	logger* L = UI::build <logger>( F, "logger" );
	20	DS * pDS = UI::build<DS> ( F, "system" );
23	21	Array<BM*> Es; // array of estimators
	22	UI::get( Es, F, "estimator" );
	23	int nE = Es.length(); //number of estimators
24	24	int Ndat; //number of data records
25		int nE; //number of estimators
26
27		try {
28		UIbuild ( F.lookup ( "logger" ),L );
29		UIbuild ( F.lookup ( "system" ),DS );
30		F.lookupValue ( "experiment.ndat",Ndat );
31		Setting& S=F.lookup ( "estimator" );
32		nE = S.getLength();
33		Es.set_size(nE);
34		for(int i=0;i<nE;i++){
35		UIbuild (S[i] ,Es(i) );
36		}
37		}
38		catch UICATCH;
39
40		DS->log_add ( *L );
	25	F.lookupValue ( "experiment.ndat",Ndat );
	26
	27	pDS->log_add ( *L );
41	28	string nic="";
42	29	for (int i=0; i<nE; i++){
…	…
45	32	L->init();
46	33
47		vec dt=zeros ( DS->_drv()._dsize() ); //data variable
	34	vec dt=zeros ( pDS->_drv()._dsize() ); //data variable
48	35	Array<datalink*> Dls(nE);
49	36	for (int i=0; i<nE; i++){
50		Dls(i)=new datalink( Es(i)->_drv(),DS->_drv() ); //datalink between a datasource and estimator
	37	Dls(i)=new datalink( Es(i)->_drv(),pDS->_drv() ); //datalink between a datasource and estimator
51	38	}
52	39
…	…
54	41	for ( int tK=1;tK<Ndat;tK++ ) {
55	42	// Data Source
56		DS->step(); // simulator step
57		DS->getdata ( dt ); // read data
58		DS->logit ( *L );
	43	pDS->step(); // simulator step
	44	pDS->getdata ( dt ); // read data
	45	pDS->logit ( *L );
59	46
60	47	// Estimators
…	…
71	58
72	59	delete L;
73		delete DS;
	60	delete pDS;
74	61	for (int i=0; i<nE; i++){
75	62	delete Dls(i);

bdm/CMakeLists.txt

r345	r357
7	7
8	8	# Normal BDM library
9		add_library (bdm STATIC itpp_ext.cpp itpp_ext.h osutils.cpp osutils.h ${BdmMath} ${BdmStat} ${BdmEstim} ${BdmUI})
	9	add_library (bdm STATIC bdmroot.cpp bdmroot.h itpp_ext.cpp itpp_ext.h osutils.cpp osutils.h ${BdmMath} ${BdmStat} ${BdmEstim} ${BdmUI})

bdm/estim/arx.cpp

r286	r357
1	1	#include "arx.h"
	2	#include "..\user_info.h"
2	3
3	4	namespace bdm {
…	…
194	195	}
195	196
196		}
	197	void ARX::from_setting( const Setting &root )
	198	{
	199	RV *yrv = UI::build<RV>(root,"y");
	200	RV *rrv = UI::build<RV>(root,"rgr");
	201	int ylen = yrv->_dsize();
	202	int rgrlen = rrv->_dsize();
	203
	204	//init
	205	mat V0;
	206	if( root.exists("dV0") )
	207	{
	208	vec dV0;
	209	UI::get( dV0, root, "dV0" );
	210	V0=diag ( dV0 );
	211	}
	212	else
	213	V0=concat ( 1e-3ones ( ylen ), 1e-5ones ( rgrlen ) );
	214
	215	double nu0;
	216	if ( !root.lookupValue( "nu0", nu0 ) )
	217	nu0 = rgrlen+ylen+2;
	218
	219	double frg;
	220	if ( !root.lookupValue( "frg", frg ) )
	221	frg = 1.0;
	222
	223	set_parameters(frg);
	224	set_statistics(ylen,V0, nu0);
	225	set_drv(concat(yrv,rrv));
	226
	227	//name results (for logging)
	228	set_rv(RV("{theta r }", vec_2(ylenrgrlen, ylenylen)));
	229
	230	delete yrv;
	231	delete rrv;
	232	}
	233
	234	/*void ARX::to_setting( Setting &root ) const
	235	{
	236	Transport::to_setting( root );
	237
	238	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	239	kilometers_setting = kilometers;
	240
	241	UI::save( passengers, root, "passengers" );
	242	}*/
	243
	244
	245	}

bdm/estim/arx.h

r286	r357
116	116	}
117	117	//!@}
	118
	119	// TODO dokumentace - aktualizovat
	120	/*! UI for ARX estimator
	121
	122	The ARX is constructed from a structure with fields:
	123	\code
	124	estimator = {
	125	type = "ARX";
	126	y = {type="rv", ...} // description of output variables
	127	rgr = {type="rv", ...} // description of regressor variables
	128	constant = true; // boolean switch if the constant term is modelled or not
	129
	130	//optional fields
	131	dV0 = [1e-3, 1e-5, 1e-5, 1e-5];
	132	// default: 1e-3 for y, 1e-5 for rgr
	133	nu0 = 6; // default: rgrlen + 2
	134	frg = 1.0; // forgetting, default frg=1.0
	135	};
	136	\endcode
	137
	138	The estimator will assign names of the posterior in the form ["theta_i" and "r_i"]
	139	*/
	140	void from_setting( const Setting &root );
	141
	142	// TODO dodelat void to_setting( Setting &root ) const;
118	143	};
	144
	145	UIREGISTER(ARX);
119	146
120	147	}

bdm/estim/libKF.cpp

r348	r357
1	1
2	2	#include "libKF.h"
	3	#include "..\user_info.h"
3	4
4	5	namespace bdm{
…	…
250	251	}
251	252
252		}
	253	void EKFCh::from_setting( const Setting &root )
	254	{
	255	diffbifn* IM = UI::build<diffbifn>(root, "IM");
	256	diffbifn* OM = UI::build<diffbifn>(root, "OM");
	257
	258	//statistics
	259	int dim=IM->dimension();
	260	vec mu0;
	261	if(root.exists("mu0"))
	262	UI::get( mu0, root, "mu0");
	263	else
	264	mu0=zeros(dim);
	265
	266	mat P0;
	267	if(root.exists("dP0"))
	268	{
	269	vec dP0;
	270	UI::get( dP0, root, "dP0");
	271	P0=diag(dP0);
	272	}
	273	else if ( root.exists( "P0" ) )
	274	UI::get(P0, root, "P0");
	275	else
	276	P0=eye(dim);
	277
	278	set_statistics(mu0,P0);
	279
	280	//parameters
	281	vec dQ, dR;
	282	UI::get( dQ, root, "dQ");
	283	UI::get( dR, root, "dR");
	284	set_parameters(IM, OM, diag(dQ), diag(dR));
	285
	286	//connect
	287	RV* drv = UI::build<RV>(root, "drv");
	288	set_drv(*drv);
	289	RV* rv = UI::build<RV>(root, "rv");
	290	set_rv(*rv);
	291
	292	string options;
	293	if(root.lookupValue( "options", options ))
	294	set_options(options);
	295	}
	296
	297	/*void EKFCh::to_setting( Setting &root ) const
	298	{
	299	Transport::to_setting( root );
	300
	301	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	302	kilometers_setting = kilometers;
	303
	304	UI::save( passengers, root, "passengers" );
	305	}*/
	306
	307	void MultiModel::from_setting( const Setting &root )
	308	{
	309	Array<EKFCh*> A;
	310	UI::get( A, root, "models");
	311
	312	set_parameters(A);
	313	set_drv(A(0)->_drv());
	314	//set_rv(A(0)->_rv());
	315
	316	string options;
	317	if(root.lookupValue( "options", options ))
	318	set_options(options);
	319	}
	320
	321	/*void MultiModel::to_setting( Setting &root ) const
	322	{
	323	Transport::to_setting( root );
	324
	325	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	326	kilometers_setting = kilometers;
	327
	328	UI::save( passengers, root, "passengers" );
	329	}*/
	330
	331
	332	}

bdm/estim/libKF.h

r338	r357
258	258	//! Here dt = [yt;ut] of appropriate dimensions
259	259	void bayes ( const vec &dt );
260		};
	260
	261	void from_setting( const Setting &root );
	262
	263	// TODO dodelat void to_setting( Setting &root ) const;
	264
	265	};
	266
	267	UIREGISTER(EKFCh);
	268
261	269
262	270	/*!
…	…
447	455	//all posterior densities are equal => return the first one
448	456	const enorm<chmat>& posterior() const {return est;}
449		};
	457
	458	void from_setting( const Setting &root );
	459
	460	// TODO dodelat void to_setting( Setting &root ) const;
	461
	462	};
	463
	464	UIREGISTER(MultiModel);
	465
450	466
451	467

bdm/stat/libBM.cpp

r280	r357
1	1
2	2	#include "libBM.h"
3		~~#include "../itpp_ext.h"~~
4	3
5	4	//! Space of basic BDM structures
…	…
213	212	}
214	213
	214	void RV::from_setting( const Setting &root )
	215	{
	216	Array<string> A;
	217	if( root.exists("names"))
	218	UI::get( A, root, "names" );
	219	else
	220	A.set_length(0);
	221
	222	ivec szs;
	223	if( root.exists("sizes"))
	224	UI::get(szs,root,"sizes");
	225	else
	226	szs = ones_i(A.length());
	227
	228	ivec tms;
	229	if( root.exists( "times") )
	230	UI::get(tms,root,"times");
	231	else
	232	tms = zeros_i(A.length());
	233
	234	// TODO tady se bude plnit primo do jeho promennych, a pak se zavola validacnni metoda, takze cele prepsat, ano?
	235	init( A, szs, tms );
	236	}
	237
	238	/*void RV::to_setting( Setting &root ) const
	239	{
	240	Transport::to_setting( root );
	241
	242	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	243	kilometers_setting = kilometers;
	244
	245	UI::save( passengers, root, "passengers" );
	246	}*/
	247
	248
	249
215	250	RV concat ( const RV &rv1, const RV &rv2 ) {
216	251	RV pom = rv1;

bdm/stat/libBM.h

r351	r357
17	17
18	18	#include "../itpp_ext.h"
19		#include "../libconfig/libconfig.h++"
	19	#include "../bdmroot.h"
	20	#include "../user_info.h"
20	21
21	22
22	23	using namespace libconfig;
23
24	24	using namespace itpp;
25	25	using namespace std;
26	26
27	27	namespace bdm {
28
29		~~//! Root class of BDM objects~~
30
31		~~class bdmroot {~~
32		~~public:~~
33		~~//! make sure this is a virtual object~~
34		~~virtual ~bdmroot()~~
35		{
36		}
37
38		~~//! This method returns a basic info about the current instance~~
39		~~virtual string ToString()~~
40		{
41		~~return "";~~
42		}
43
44		~~//! This method arrange instance properties according the data stored in the Setting structure~~
45		~~virtual void from_setting( const Setting &root )~~
46		{
47		}
48
49		~~//! This method save all the instance properties into the Setting structure~~
50		~~virtual void to_setting( Setting &root ) const~~
51		{
52		}
53		};
54	28
55	29	typedef std::map<string, int> RVmap;
…	…
57	31	extern Array<string> RV_NAMES;
58	32
59		//! Structure of RV (used internally), i.e. expanded RVs
	33	//! Structure of RV (used internally), i.e. expanded RVs - TODO tak proc je ve verejnem prostoru jmen? upravit
60	34	class str {
61	35	public:
…	…
189	163	//!@{
190	164
191		//! generate \c str from rv, by expanding sizes
	165	//! generate \c str from rv, by expanding sizes TODO to_string..
192	166	str tostr() const;
193	167	//! when this rv is a part of bigger rv, this function returns indeces of self in the data vector of the bigger crv.
…	…
201	175	//!@}
202	176
203		};
204
	177	// TODO aktualizovat dle soucasneho UI
	178	/*! \brief UI for class RV (description of data vectors)
	179
	180	\code
	181	rv = {
	182	type = "rv"; //identifier of the description
	183	// UNIQUE IDENTIFIER same names = same variable
	184	names = ["a", "b", "c", ...]; // which will be used e.g. in loggers
	185
	186	//optional arguments
	187	sizes = [1, 2, 3, ...]; // (optional) default = ones()
	188	times = [-1, -2, 0, ...]; // time shifts with respect to current time (optional) default = zeros()
	189	}
	190	\endcode
	191	*/
	192	void from_setting( const Setting &root );
	193
	194	// TODO dodelat void to_setting( Setting &root ) const;
	195	};
	196
	197	UIREGISTER(RV);
205	198
206	199	//! Concat two random variables

bdm/stat/libDS.cpp

r313	r357
1	1
2	2	#include "libDS.h"
	3	#include "..\user_info.h"
	4
3	5	using namespace bdm;
4	6
…	…
53	55	}
54	56
	57	void ArxDS::from_setting( const Setting &root )
	58	{
	59	RV *yrv = UI::build<RV>( root, "y" );
	60	RV *urv = UI::build<RV>( root, "u" );
	61	RV *rrv = UI::build<RV>( root, "rgr" );
	62
	63	mat Th;
	64	UI::get( Th, root, "theta" );
	65
	66	vec mu0;
	67	if( root.exists( "offset" ))
	68	UI::get( mu0, root, "offset" );
	69	else
	70	mu0= zeros( yrv->_dsize() );
	71
	72	mat sqR;
	73	UI::get( sqR, root, "r" );
	74	set_parameters(Th,mu0,sqR);
	75	set_drv(yrv,urv,*rrv);
	76
	77	if(root.exists("opt"))
	78	set_options(root["opt"]);
	79	}
	80
	81	/*void ArxDS::to_setting( Setting &root ) const
	82	{
	83	Transport::to_setting( root );
	84
	85	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	86	kilometers_setting = kilometers;
	87
	88	UI::save( passengers, root, "passengers" );
	89	}*/
	90
	91
55	92	CsvFileDS::CsvFileDS ( const string& fname, const string& orientation ) :FileDS() {
56	93	time = 0;
…	…
87	124	}
88	125
	126	void ITppFileDS::from_setting( const Setting &root )
	127	{
	128	RV* rvtmp = UI::build<RV>(root, "rv" );
	129
	130	it_file it ( root["filename"] );
	131	it << Name ( root["varname"] );
	132	it >> Data;
	133	time = 0;
	134	//rowid and delays are ignored
	135
	136	set_drv(*rvtmp,RV());
	137	}
	138
	139	/*void ITppFileDS::to_setting( Setting &root ) const
	140	{
	141	Transport::to_setting( root );
	142
	143	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	144	kilometers_setting = kilometers;
	145
	146	UI::save( passengers, root, "passengers" );
	147	}*/
	148
	149	void stateDS::from_setting( const Setting &root )
	150	{
	151	IM = UI::build<mpdf>(root, "IM");
	152	OM = UI::build<mpdf>(root, "OM");
	153
	154	dt.set_length( OM->dimension() );
	155	xt.set_length( IM->dimension() );
	156	ut.set_length(0);
	157
	158	RV* rvtmp = UI::build<RV>(root["IM"], "rvu");
	159	//set_drv(rvtmp);
	160	}
	161
	162	/*void stateDS::to_setting( Setting &root ) const
	163	{
	164	Transport::to_setting( root );
	165
	166	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	167	kilometers_setting = kilometers;
	168
	169	UI::save( passengers, root, "passengers" );
	170	}*/
	171
	172

bdm/stat/libDS.h

r342	r357
90	90	//rowid and delays are ignored
91	91	};
92		};
	92
	93	ITppFileDS () :FileDS() {
	94	};
	95
	96	void from_setting( const Setting &root );
	97
	98	// TODO dodelat void to_setting( Setting &root ) const;
	99
	100	};
	101
	102	UIREGISTER(ITppFileDS);
93	103
94	104	/*!
…	…
200	210	}
201	211
202		};
	212	// TODO dokumentace - aktualizovat
	213	/*! UI for ArxDS using factorized description!
	214
	215	The ArxDS is constructed from a structure with fields:
	216	\code
	217	system = {
	218	type = "ArxDS";
	219	// description of y variables
	220	y = {type="rv"; names=["y", "u"];};
	221	// description of u variable
	222	u = {type="rv"; names=[];}
	223	// description of regressor
	224	rgr = {type="rv";
	225	names = ["y","y","y","u"];
	226	times = [-1, -2, -3, -1];
	227	}
	228
	229	// theta
	230	theta = [0.8, -0.3, 0.4, 1.0,
	231	0.0, 0.0, 0.0, 0.0];
	232	// offset (optional)
	233	offset = [0.0, 0.0];
	234	//variance
	235	r = [0.1, 0.0,
	236	0.0, 1.0];
	237	//options: L_theta = log value of theta,
	238	opt = "L_theta";
	239	};
	240	\endcode
	241
	242	Result is ARX data source offering with full history as Drv.
	243	*/
	244	void from_setting( const Setting &root );
	245
	246	// TODO dodelat void to_setting( Setting &root ) const;
	247	};
	248
	249	UIREGISTER( ArxDS );
203	250
204	251	class stateDS : public DS {
…	…
222	269	stateDS ( mpdf* IM0, mpdf* OM0, int usize ) :DS ( ),IM ( IM0 ),OM ( OM0 ),
223	270	dt ( OM0->dimension() ), xt ( IM0->dimension() ), ut ( usize ) {}
	271
	272	stateDS(){}
	273
224	274	~stateDS() {delete IM; delete OM;}
225	275	virtual void step() {
…	…
237	287	}
238	288
239		};
	289	/*! UI for stateDS
	290
	291	The DS is constructed from a structure with fields:
	292	\code
	293	system = {
	294	type = "stateDS";
	295	//Internal model
	296	IM = { type = "mpdf"; //<-- valid offspring! e.g. "mlnorm"
	297	rv = { //description of x_t
	298	names=["name1",...];
	299	sizes=[2,1]; // optional default=[1,1...];
	300	times=[0,0]; // optional default=[0,0...];
	301	}
	302	rvu= { //description of u_t
	303	//optional default=empty
	304	}
	305
	306	// remaining fields depending on the chosen type
	307	};
	308	//Observation model
	309	OM = { type = "mpdf-offspring";
	310	rv = {}; //description of d_t
	311	rvu = {type="internal", path="system.IM.rvu"}; //description of u_t
	312
	313	//remaining fields
	314	}
	315	};
	316	\endcode
	317	*/
	318	void from_setting( const Setting &root );
	319
	320	// TODO dodelat void to_setting( Setting &root ) const;
	321
	322	};
	323
	324	UIREGISTER(stateDS);
240	325
241	326	}; //namespace

bdm/stat/libEF.cpp

r330	r357
	1	#include <math.h>
1	2
2	3	#include <itpp/base/bessel.h>
3	4	#include "libEF.h"
4		#include ~~<math.h>~~
	5	#include "..\user_info.h"
5	6
6	7	namespace bdm{
…	…
319	320	}
320	321
	322	void migamma_ref::from_setting( const Setting &root )
	323	{
	324	vec ref;
	325	UI::get( ref, root, "ref" );
	326	set_parameters(root["k"],ref,root["l"]);
	327	}
	328
	329	/*void migamma_ref::to_setting( Setting &root ) const
	330	{
	331	Transport::to_setting( root );
	332
	333	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	334	kilometers_setting = kilometers;
	335
	336	UI::save( passengers, root, "passengers" );
	337	}*/
	338
	339
	340	void mlognorm::from_setting( const Setting &root )
	341	{
	342	vec mu0;
	343	UI::get( mu0, root, "mu0");
	344	set_parameters(mu0.length(),root["k"]);
	345	condition(mu0);
	346	}
	347
	348	/*void mlognorm::to_setting( Setting &root ) const
	349	{
	350	Transport::to_setting( root );
	351
	352	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	353	kilometers_setting = kilometers;
	354
	355	UI::save( passengers, root, "passengers" );
	356	}*/
	357
	358
321	359	};

bdm/stat/libEF.h

r330	r357
17	17	#include "libBM.h"
18	18	#include "../math/chmat.h"
19		//#include <std>
	19	#include "../user_info.h"
20	20
21	21	namespace bdm
…	…
515	515	void set_parameters ( fnc* g0, const sq_T &R0 ) {g=g0; epdf.set_parameters ( zeros ( g->dimension() ), R0 );}
516	516	void condition ( const vec &cond ) {mu=g->eval ( cond );};
517		};
	517
	518
	519	/*! UI for mgnorm
	520
	521	The mgnorm is constructed from a structure with fields:
	522	\code
	523	system = {
	524	type = "mgnorm";
	525	// function for mean value evolution
	526	g = {type="fnc"; ... }
	527
	528	// variance
	529	R = [1, 0,
	530	0, 1];
	531	// --OR --
	532	dR = [1, 1];
	533
	534	// == OPTIONAL ==
	535
	536	// description of y variables
	537	y = {type="rv"; names=["y", "u"];};
	538	// description of u variable
	539	u = {type="rv"; names=[];}
	540	};
	541	\endcode
	542
	543	Result if
	544	*/
	545
	546	void from_setting( const Setting &root )
	547	{
	548	fnc* g = UI::build<fnc>( root, "g" );
	549
	550	mat R;
	551	if ( root.exists( "dR" ) )
	552	{
	553	vec dR;
	554	UI::get( dR, root, "dR" );
	555	R=diag(dR);
	556	}
	557	else
	558	UI::get( R, root, "R");
	559
	560	set_parameters(g,R);
	561	}
	562
	563	/*void mgnorm::to_setting( Setting &root ) const
	564	{
	565	Transport::to_setting( root );
	566
	567	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	568	kilometers_setting = kilometers;
	569
	570	UI::save( passengers, root, "passengers" );
	571	}*/
	572
	573	};
	574
	575	UIREGISTER(mgnorm<chmat>);
	576
518	577
519	578	/*! (Approximate) Student t density with linear function of mean value
…	…
630	689	};
631	690
	691
632	692	/*!
633	693	\brief Gamma random walk around a fixed point
…	…
699	759	migamma::condition ( mean );
700	760	};
701		};
	761
	762	/*! UI for migamma_ref
	763
	764	The migamma_ref is constructed from a structure with fields:
	765	\code
	766	system = {
	767	type = "migamma_ref";
	768	ref = [1e-5; 1e-5; 1e-2 1e-3]; // reference vector
	769	l = 0.999; // constant l
	770	k = 0.1; // constant k
	771
	772	// == OPTIONAL ==
	773	// description of y variables
	774	y = {type="rv"; names=["y", "u"];};
	775	// description of u variable
	776	u = {type="rv"; names=[];}
	777	};
	778	\endcode
	779
	780	Result if
	781	*/
	782	void from_setting( const Setting &root );
	783
	784	// TODO dodelat void to_setting( Setting &root ) const;
	785	};
	786
	787
	788	UIREGISTER(migamma_ref);
702	789
703	790	/*! Log-Normal probability density
…	…
753	840	mu=log ( val )-sig2;//elem_mult ( refl,pow ( val,l ) );
754	841	};
755		};
	842
	843	/*! UI for mlognorm
	844
	845	The mlognorm is constructed from a structure with fields:
	846	\code
	847	system = {
	848	type = "mlognorm";
	849	k = 0.1; // constant k
	850	mu0 = [1., 1.];
	851
	852	// == OPTIONAL ==
	853	// description of y variables
	854	y = {type="rv"; names=["y", "u"];};
	855	// description of u variable
	856	u = {type="rv"; names=[];}
	857	};
	858	\endcode
	859
	860	*/
	861	void from_setting( const Setting &root );
	862
	863	// TODO dodelat void to_setting( Setting &root ) const;
	864
	865	};
	866
	867	UIREGISTER(mlognorm);
756	868
757	869	/*! inverse Wishart density defined on Choleski decomposition

bdm/stat/loggers.cpp

r347	r357
26	26	}
27	27	}
	28
	29	void memlog::from_setting( const Setting &root )
	30	{
	31	// TODO tady se natvrdo ocekava existence stringu, nejsou zadne defaulty.. je to tak OK?
	32	string itfilename = (string)root["filename"];
	33	maxlen = root["maxlen"];
	34	}
	35
	36	/*void memlog::to_setting( Setting &root ) const
	37	{
	38	Transport::to_setting( root );
	39
	40	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	41	kilometers_setting = kilometers;
	42
	43	UI::save( passengers, root, "passengers" );
	44	}*/
28	45
29	46	void dirfilelog::init() {
…	…
62	79	ii++;
63	80	}
64		} else {
65		ii++;}
	81	}
	82	else {
	83	ii++;}
66	84	}
67	85	}
…	…
140	158	}
141	159
	160
	161	void dirfilelog::from_setting( const Setting &root )
	162	{
	163	// TODO tady se natvrdo ocekava existence stringu, nejsou zadne defaulty.. je to tak OK?
	164	dirname = (string)root["dirname"];
	165	maxlen = root["maxlen"];
	166	scalarnames.set_length(0);
142	167	}
	168
	169	/*void dirfilelog::to_setting( Setting &root ) const
	170	{
	171	Transport::to_setting( root );
	172
	173	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
	174	kilometers_setting = kilometers;
	175
	176	UI::save( passengers, root, "passengers" );
	177	}*/
	178
	179
	180
	181	}

bdm/stat/loggers.h

r347	r357
15	15
16	16	#include "libBM.h"
	17	#include "..\user_info.h"
17	18
18	19	namespace bdm{
…	…
38	39	public:
39	40	//!Default constructor
40		memlog ( int maxlen0, string itf="" ) : logger(),maxlen ( maxlen0 ),ind ( 0 ),vectors ( 0 ),itfilename(itf) {}
	41	memlog ( int maxlen0, string itf="" ) : maxlen ( maxlen0 ),ind ( 0 ),vectors ( 0 ),itfilename(itf) {}
	42
	43	memlog(): ind ( 0 ),vectors ( 0 ) {}
	44
41	45	//! Initialize storage
42	46	void init() {
…	…
60	64	void finalize() {if (itfilename.length()>0) itsave(itfilename.c_str());};
61	65
	66
	67	/*! \brief UI for memlog
	68
	69	TODO dat tam kam patri, a to celej blok
	70
	71	\code
	72	logger = {
	73	type = "itpplog";
	74	filename = "file_name.it"; // resulting filename with results in it format
	75	maxlen = 100; // size of memory buffer
	76	}
	77	\endcode
	78	*/
	79	void from_setting( const Setting &root );
	80
	81	// TODO dodelat void to_setting( Setting &root ) const;
62	82	};
	83
	84	UIREGISTER(memlog);
63	85
64	86	/*!
…	…
69	91	* This format is used to store scalars, hence multivariate RVs must be separated.
70	92	*/
71
72	93	class dirfilelog : public memlog {
73	94
…	…
81	102	@param dirname0 name of the directory in which to store the results
82	103	@param maxlen0 length of the memory buffers, when full the buffers will be dumped to HDD and returned to the beginning. */
83		dirfilelog ( std::string dirname0, int maxlen0 ) : memlog ( maxlen0 ), dirname ( dirname0 ), scalarnames ( 0 ) {}
	104	dirfilelog ( string dirname0, int maxlen0 ) : memlog ( maxlen0 ), dirname ( dirname0 ), scalarnames ( 0 ) {}
	105
	106	dirfilelog() {}
	107
84	108	//! Initialize storage
85	109	void init();
…	…
90	114	*/
91	115	void write_buffers ( int Len );
	116
	117	// TODO dokumentace - aktualizovat
	118	/*! \brief UI for dirfilelog (Kst file format)
	119	\code
	120	logger = {
	121	type = "dirfilelog";
	122	dirmane = "directory_for_files"; // resulting files will be stored there
	123	maxlen = 100; // size of memory buffer, when full results are written to disk
	124	}
	125	\endcode
	126	*/
	127	void from_setting( const Setting &root );
	128
	129	// TODO dodelat void to_setting( Setting &root ) const;
92	130	};
	131
	132	UIREGISTER(dirfilelog);
93	133
94	134	};

bdm/user_info.cpp

r351	r357
13	13	#include "user_info.h"
14	14
15		namespace bdm {
	15	namespace bdm
	16	{
16	17
17	18
…	…
19	20
20	21
21		UI_File::UI_File ( ~~const string &file_name ) : file_name( file_name~~ )
22		{
23		setAutoConvert( true );
	22	UI_File::UI_File ()
	23	{
	24	setAutoConvert( true );
24	25	}
25	26
26	27	//! loads root element from a file
27		void UI_File::load()
28		{
29		try
30		{
31		readFile( file_name.c_str() );
32		}
33		catch ( FileIOException f )
34		{
35		it_error ( "UI error: file " + file_name + " not found." );
36		}
37		catch ( ParseException& P )
38		{
39		stringstream msg;
40		msg << "UI error: parsing ui_error """ << P.getError() << """ in file " << file_name << " on line " << P.getLine() << ".";
41		it_error ( msg.str() );
42		}
	28	UI_File::UI_File ( const string &file_name )
	29	{
	30	setAutoConvert( true );
	31	try
	32	{
	33	readFile( file_name.c_str() );
	34	}
	35	catch ( FileIOException f )
	36	{
	37	it_error ( "UI error: file " + file_name + " not found." );
	38	}
	39	catch ( ParseException& P )
	40	{
	41	stringstream msg;
	42	msg << "UI error: parsing error """ << P.getError() << """ in file " << file_name << " on line " << P.getLine() << ".";
	43	it_error ( msg.str() );
	44	}
43	45	}
44	46
45	47
46	48	//! save UserInfo to the file (typically with an XML extension)
47		void UI_File::save()
48		{
49		try
50		{
51		writeFile ( file_name.c_str() );
52		}
53		catch ( FileIOException f )
54		{
55		it_error( "UI error: file " + file_name + " is inacessible." );
56		}
57		}
	49	void UI_File::save( const string &file_name )
	50	{
	51	try
	52	{
	53	writeFile ( file_name.c_str() );
	54	}
	55	catch ( FileIOException f )
	56	{
	57	it_error( "UI error: file " + file_name + " is inacessible." );
	58	}
	59	}
58	60
59	61	UI_File::operator Setting&()
60	62	{
61		return getRoot();
	63	return getRoot();
62	64	}
63	65	///////////////////////// INTERNAL MAPPED_UI /////////////////////////////////////////////
…	…
65	67	UI::Mapped_UI::String_To_UI_Map& UI::Mapped_UI::mapped_strings()
66	68	{
67		static String_To_UI_Map var;
68		return var;
	69	static String_To_UI_Map var;
	70	return var;
69	71	}
70	72
71	73	UI::Mapped_UI::Type_Info_To_String_Map& UI::Mapped_UI::mapped_type_infos()
72	74	{
73		static Type_Info_To_String_Map var;
74		return var;
	75	static Type_Info_To_String_Map var;
	76	return var;
75	77	}
76	78
77	79	void UI::Mapped_UI::add_class( const string &class_name, const type_info * const class_type_info, const UI* const ui )
78	80	{
79		pair< const string, const UI* const > new_pair = make_pair( class_name, ui );
80		mapped_strings().insert( new_pair );
81		mapped_type_infos().insert( make_pair( class_type_info, new_pair.first ) );
	81	pair< const string, const UI* const > new_pair = make_pair( class_name, ui );
	82	mapped_strings().insert( new_pair );
	83	mapped_type_infos().insert( make_pair( class_type_info, new_pair.first ) );
82	84	}
83	85
84	86	const UI& UI::Mapped_UI::retrieve_ui( const string &class_name )
85	87	{
86		String_To_UI_Map::const_iterator iter = mapped_strings().find( class_name );
87		if( iter == mapped_strings().end())
88		it_error ( "UI error: class " + class_name + " was not properly registered. Use the macro ""UIREGISTER([class name]);"" within your code." );
89		return *iter->second;
90		}
	88	String_To_UI_Map::const_iterator iter = mapped_strings().find( class_name );
	89	if ( iter == mapped_strings().end())
	90	it_error ( "UI error: class " + class_name + " was not properly registered. Use the macro ""UIREGISTER([class name]);"" within your code." );
	91	return *iter->second;
	92	}
91	93
92	94	const string& UI::Mapped_UI::retrieve_class_name( const type_info * const class_type_info )
93	95	{
94		Type_Info_To_String_Map::const_iterator iter = mapped_type_infos().find( class_type_info );
95		if( iter == mapped_type_infos().end())
96		it_error ( "UI error: class with RTTI name " + string(class_type_info->name()) + " was not properly registered. Use the macro ""UIREGISTER([class name]);"" within your code." );
97		return iter->second;
98		}
	96	Type_Info_To_String_Map::const_iterator iter = mapped_type_infos().find( class_type_info );
	97	if ( iter == mapped_type_infos().end())
	98	it_error ( "UI error: class with RTTI name " + string(class_type_info->name()) + " was not properly registered. Use the macro ""UIREGISTER([class name]);"" within your code." );
	99	return iter->second;
	100	}
99	101
100	102	///////////////////////// INTERNAL LINK EXPANDER /////////////////////////////////////////////
…	…
102	104	UI::Link_Expander::Link_Expander( const Setting &potential_link )
103	105	{
104		file = NULL;
105		result = &potential_link;
106
107		if( potential_link.getType() != Setting::TypeString )
108		return;
109
110		string link = (string) potential_link;
111		size_t aerobase = link.find('@');
112		if( aerobase != string::npos )
113		{
114		string file_name = link.substr( aerobase + 1, link.length() );
115		file = new UI_File( file_name );
116		file->load();
117		result = &(Setting&)(*file);
118		link = link.substr( 0, aerobase );
119		}
120		else
121		while ( !result->isRoot() )
122		result = &result->getParent();
123
124		if( !result->exists( link ) )
125		ui_error( "linked Setting was not found", potential_link );
126
127		result = &(*result)[link];
	106	file = NULL;
	107	result = &potential_link;
	108
	109	if ( potential_link.getType() != Setting::TypeString )
	110	return;
	111
	112	string link = (string) potential_link;
	113	size_t aerobase = link.find('@');
	114	if ( aerobase != string::npos )
	115	{
	116	string file_name = link.substr( aerobase + 1, link.length() );
	117	file = new UI_File( file_name );
	118	result = &(Setting&)(*file);
	119	link = link.substr( 0, aerobase );
	120	}
	121	else
	122	while ( !result->isRoot() )
	123	result = &result->getParent();
	124
	125	if ( !result->exists( link ) )
	126	ui_error( "linked Setting was not found", potential_link );
	127
	128	result = &(*result)[link];
128	129	}
129	130
130	131	UI::Link_Expander::~Link_Expander()
131	132	{
132		if( file ) delete file;
	133	if ( file ) delete file;
133	134	}
134	135
135	136	const Setting& UI::Link_Expander::root() const
136	137	{
137		return *result;
	138	return *result;
138	139	}
139	140
140	141	///////////////////////// UI /////////////////////////////////////////////
141	142
142
143
144		//! This methods - kvuli ukladani pole stringu, dat jen privatne?
	143	void UI::ui_error( string message, const Setting &element )
	144	{
	145	stringstream error_message;
	146	error_message << "UI error: " << message << "! Check path """ << element.getPath() << """, source line " << element.getSourceLine() << ".";
	147	it_error ( error_message.str() );
	148	}
	149
	150	//! This methods - kvuli ukladani pole stringu, dat jen privatne?
145	151	void UI::save( const string &str, Setting &element )
146	152	{
147		Setting &root = element.add( Setting::TypeString );
148		root = str;
	153	Setting &root = element.add( Setting::TypeString );
	154	root = str;
149	155	}
150	156
151	157	void UI::save( const mat &matrix, Setting &element, const string &name)
152	158	{
153
154		Setting &root = (name == "") ? element.add( Setting::TypeList )
155		: element.add( name, Setting::TypeList );
156
157		Setting &cols = root.add( Setting::TypeInt );
158		cols = matrix.cols();
159
160		Setting &rows = root.add( Setting::TypeInt );
161		rows = matrix.rows();
162
163		Setting &elements = root.add( Setting::TypeArray );
164
165		// build matrix row-wise
166		for( int i=0; i<matrix.rows(); i++ )
167		for( int j=0; j<matrix.cols(); j++)
168		{
169		Setting &new_field = elements.add(Setting::TypeFloat);
170		new_field = matrix(i,j);
171		}
172		}
173
174
175		//! This methods tries to save a double vec
176		void UI::save( const ivec &vec, Setting &element, const string &name)
177		{
178
179		Setting &root = (name == "") ? element.add( Setting::TypeArray )
180		: element.add( name, Setting::TypeArray );
181		for( int i=0; i<vec.length(); i++ )
182		{
183		Setting &new_field = root.add(Setting::TypeInt);
184		new_field = vec(i);
185		}
186		}
187
188
189		//! This methods tries to build a new double matrix
	159
	160	Setting &root = (name == "") ? element.add( Setting::TypeList )
	161	: element.add( name, Setting::TypeList );
	162
	163	Setting &cols = root.add( Setting::TypeInt );
	164	cols = matrix.cols();
	165
	166	Setting &rows = root.add( Setting::TypeInt );
	167	rows = matrix.rows();
	168
	169	Setting &elements = root.add( Setting::TypeArray );
	170
	171	// build matrix row-wise
	172	for ( int i=0; i<matrix.rows(); i++ )
	173	for ( int j=0; j<matrix.cols(); j++)
	174	{
	175	Setting &new_field = elements.add(Setting::TypeFloat);
	176	new_field = matrix(i,j);
	177	}
	178	}
	179
	180
	181	//! This methods tries to save a integer vector
	182	void UI::save( const ivec &vector, Setting &element, const string &name)
	183	{
	184
	185	Setting &root = (name == "") ? element.add( Setting::TypeArray )
	186	: element.add( name, Setting::TypeArray );
	187	for ( int i=0; i<vector.length(); i++ )
	188	{
	189	Setting &new_field = root.add(Setting::TypeInt);
	190	new_field = vector(i);
	191	}
	192	}
	193
	194
	195	//! This methods tries to save a double vector
	196	void UI::save( const vec &vector, Setting &element, const string &name)
	197	{
	198
	199	Setting &root = (name == "") ? element.add( Setting::TypeArray )
	200	: element.add( name, Setting::TypeArray );
	201	for ( int i=0; i<vector.length(); i++ )
	202	{
	203	Setting &new_field = root.add(Setting::TypeFloat);
	204	new_field = vector(i);
	205	}
	206	}
	207
	208
	209	//! This methods tries to build a new double matrix
190	210
191	211	void UI::from_setting( mat& matrix, const Setting &element )
192	212	{
193		const Link_Expander link_expander( element );
194		const Setting &root = link_expander.root();
195
196		if( root.isNumber() )
197		{
198		matrix.set_size( 1, 1 );
199		matrix(0,0) = root;
200		return;
201		}
202
203		if( root.isList() )
204		{
205		if( root.getLength() != 3 )
206		ui_error( "the setting supposed to represent a matrix element has wrong syntax", root );
207
208		~~Setting &col~~s_setting = root[0];
209		~~Setting &row~~s_setting = root[1];
210		Setting &elements = root[2];
211
212		ASSERT_UITYPE(cols_setting,TypeInt);
213		ASSERT_UITYPE(rows_setting,TypeInt);
214		ASSERT_UITYPE(elements,TypeArray);
215
216		int cols = cols_setting;
217		int rows = rows_setting;
218
219		if( cols < 0 \| rows < 0 )
220		ui_error( "the dimensions of a matrix has to be non-negative", root );
221
222		if( elements.getLength() != cols * rows )
223		ui_error( "the count of the matrix elements is incompatible with matrix dimension", elements );
224
225		matrix.set_size( rows, cols );
226
227		if( cols == 0 \|\| rows == 0 )
228		return;
229
230		if( !elements[0].isNumber() )
231		ui_error( "matrix elements have to be numbers", elements[0] );
232
233		// build matrix row-wise
234		int k = 0;
235		for( int i=0;i<rows;i++ )
236		~~for~~( int j=0; j<cols; j++)
237		matrix(i,j) = elements[k++];
238		return;
239		}
240
241		ui_error( "only numeric types or TypeList are supported as matrix values", root );
	213	const Link_Expander link_expander( element );
	214	const Setting &root = link_expander.root();
	215
	216	if ( root.isNumber() )
	217	{
	218	matrix.set_size( 1, 1 );
	219	matrix(0,0) = root;
	220	return;
	221	}
	222
	223	if ( root.isList() )
	224	{
	225	if ( root.getLength() != 3 )
	226	ui_error( "the setting supposed to represent a matrix element has wrong syntax", root );
	227
	228	Setting &rows_setting = root[0];
	229	Setting &cols_setting = root[1];
	230	Setting &elements = root[2];
	231
	232	ASSERT_UITYPE(cols_setting,TypeInt);
	233	ASSERT_UITYPE(rows_setting,TypeInt);
	234	ASSERT_UITYPE(elements,TypeArray);
	235
	236	int cols = cols_setting;
	237	int rows = rows_setting;
	238
	239	if ( cols < 0 \| rows < 0 )
	240	ui_error( "the dimensions of a matrix has to be non-negative", root );
	241
	242	if ( elements.getLength() != cols * rows )
	243	ui_error( "the count of the matrix elements is incompatible with matrix dimension", elements );
	244
	245	matrix.set_size( rows, cols );
	246
	247	if ( cols == 0 \|\| rows == 0 )
	248	return;
	249
	250	if ( !elements[0].isNumber() )
	251	ui_error( "matrix elements have to be numbers", elements[0] );
	252
	253	// build matrix row-wise
	254	int k = 0;
	255	for ( int i=0; i<rows; i++ )
	256	for ( int j=0; j<cols; j++)
	257	matrix(i,j) = elements[k++];
	258	return;
	259	}
	260
	261	ui_error( "only numeric types or TypeList are supported as matrix values", root );
242	262	}
243	263
244	264	//! This methods tries to build a new integer vector
245		void UI::from_setting( ivec &vec, const Setting &element )
246		{
247		const Link_Expander link_expander( element );
248		const Setting &root = link_expander.root();
249
250		if( root.isNumber() )
251		{
252		ASSERT_UITYPE(root,TypeInt);
253		vec.set_length( 1 );
254		vec(0) = root;
255		return;
256		}
257
258		if( root.isList() )
259		{
260		if( root.getLength() != 3 )
261		ui_error( "the setting supposed to represent a matrix element has wrong syntax", root );
262
263		Setting &cols_setting = root[0];
264		Setting &rows_setting = root[1];
265		Setting &elements = root[2];
266
267		ASSERT_UITYPE(cols_setting,TypeInt);
268		ASSERT_UITYPE(rows_setting,TypeInt);
269		ASSERT_UITYPE(elements,TypeArray);
270
271		int cols = cols_setting;
272		int rows = rows_setting;
273
274		if( cols < 0 \| rows < 0)
275		ui_error( "the dimensions of a matrix has to be non-negative", root );
276
277		if( elements.getLength() != cols * rows )
278		ui_error( "the count of the matrix elements is incompatible with matrix dimension", elements );
279
280		if( cols != 1 & rows !=1)
281		ui_error( "the vector length is invalid, it seems to be rather a matrix", elements );
282
283		int len = rows * cols;
284		vec.set_length ( len );
285		if( len == 0 ) return;
286
287		ASSERT_UITYPE(elements[0],TypeInt);
288		for( int i=0; i<len; i++ )
289		vec(i) = elements[i];
290		return;
291		}
292
293		if( root.isArray() )
294		{
295		int len = root.getLength();
296		vec.set_length( len );
297		if( len == 0 ) return;
298
299		ASSERT_UITYPE(root[0],TypeInt);
300		for( int i=0; i < len; i++ )
301		vec(i) = root[i];
302		return;
303		}
304
305		ui_error( "only numeric types, TypeArray or TypeList are supported as vector values", root );
	265	void UI::from_setting( ivec &vector, const Setting &element )
	266	{
	267	const Link_Expander link_expander( element );
	268	const Setting &root = link_expander.root();
	269
	270	if ( root.isNumber() )
	271	{
	272	ASSERT_UITYPE(root,TypeInt);
	273	vector.set_length( 1 );
	274	vector(0) = root;
	275	return;
	276	}
	277
	278	if ( root.isList() )
	279	{
	280	if ( root.getLength() != 3 )
	281	ui_error( "the setting supposed to represent a matrix element has wrong syntax", root );
	282
	283	Setting &cols_setting = root[0];
	284	Setting &rows_setting = root[1];
	285	Setting &elements = root[2];
	286
	287	ASSERT_UITYPE(cols_setting,TypeInt);
	288	ASSERT_UITYPE(rows_setting,TypeInt);
	289	ASSERT_UITYPE(elements,TypeArray);
	290
	291	int cols = cols_setting;
	292	int rows = rows_setting;
	293
	294	if ( cols < 0 \| rows < 0)
	295	ui_error( "the dimensions of a matrix has to be non-negative", root );
	296
	297	if ( elements.getLength() != cols * rows )
	298	ui_error( "the count of the matrix elements is incompatible with matrix dimension", elements );
	299
	300	if ( cols != 1 & rows !=1)
	301	ui_error( "the vector length is invalid, it seems to be rather a matrix", elements );
	302
	303	int len = rows * cols;
	304	vector.set_length ( len );
	305	if ( len == 0 ) return;
	306
	307	ASSERT_UITYPE(elements[0],TypeInt);
	308	for ( int i=0; i<len; i++ )
	309	vector(i) = elements[i];
	310	return;
	311	}
	312
	313	if ( root.isArray() )
	314	{
	315	int len = root.getLength();
	316	vector.set_length( len );
	317	if ( len == 0 ) return;
	318
	319	ASSERT_UITYPE(root[0],TypeInt);
	320	for ( int i=0; i < len; i++ )
	321	vector(i) = root[i];
	322	return;
	323	}
	324
	325	ui_error( "only numeric types, TypeArray or TypeList are supported as vector values", root );
	326	}
	327
	328	//! This methods tries to build a new double vector
	329	void UI::from_setting( vec &vector, const Setting &element )
	330	{
	331	const Link_Expander link_expander( element );
	332	const Setting &root = link_expander.root();
	333
	334	if ( root.isNumber() )
	335	{
	336	vector.set_length( 1 );
	337	vector(0) = root;
	338	return;
	339	}
	340
	341	if ( root.isList() )
	342	{
	343	if ( root.getLength() != 3 )
	344	ui_error( "the setting supposed to represent a matrix element has wrong syntax", root );
	345
	346	Setting &cols_setting = root[0];
	347	Setting &rows_setting = root[1];
	348	Setting &elements = root[2];
	349
	350	ASSERT_UITYPE(cols_setting,TypeInt);
	351	ASSERT_UITYPE(rows_setting,TypeInt);
	352	ASSERT_UITYPE(elements,TypeArray);
	353
	354	int cols = cols_setting;
	355	int rows = rows_setting;
	356
	357	if ( cols < 0 \| rows < 0)
	358	ui_error( "the dimensions of a matrix has to be non-negative", root );
	359
	360	if ( elements.getLength() != cols * rows )
	361	ui_error( "the count of the matrix elements is incompatible with matrix dimension", elements );
	362
	363	if ( cols != 1 & rows !=1)
	364	ui_error( "the vector length is invalid, it seems to be rather a matrix", elements );
	365
	366	int len = rows * cols;
	367	vector.set_length ( len );
	368	if ( len == 0 ) return;
	369
	370	if ( !elements[0].isNumber())
	371	ui_error("a vector element has to be a number", elements[0]);
	372
	373	for ( int i=0; i<len; i++ )
	374	vector(i) = elements[i];
	375	return;
	376	}
	377
	378	if ( root.isArray() )
	379	{
	380	int len = root.getLength();
	381	vector.set_length( len );
	382	if ( len == 0 ) return;
	383
	384	if ( !root[0].isNumber())
	385	ui_error("a vector element has to be a number", root[0]);
	386
	387	for ( int i=0; i < len; i++ )
	388	vector(i) = root[i];
	389	return;
	390	}
	391
	392	ui_error( "only numeric types, TypeArray or TypeList are supported as vector values", root );
306	393	}
307	394
…	…
309	396	void UI::from_setting( string &str, const Setting &element )
310	397	{
311		ASSERT_UITYPE(element,TypeString);
312		str = (string) element;
	398	ASSERT_UITYPE(element,TypeString);
	399	str = (string) element;
313	400	}
314	401
315	402
316	403	///////////////////////// UI FILE /////////////////////////////////////////////
317		//! This methods tries to save an instance of type T (or some of its descendant types)
318		//! and build DOM tree accordingly. Then, it creates a new DOMNode named according class_name
319		//! and connecti it to the passed Setting as a new child node.
320		const Setting* UI::pointer_to_child_setting( const Setting &element, const int index )
321		{
322		if( !element.isList())
323		return NULL;
324
325		if( element.getLength() <= index )
326		return NULL;
327
328		return &element[index];
329		}
330
331		const Setting* UI::pointer_to_child_setting( const Setting &element, const string &name )
332		{
333		if( !element.isGroup() )
334		return NULL;
335
336		if( !element.exists( name ) )
337		return NULL;
338
339		return &element[name];
340		}
341
342		const Setting& UI::reference_to_child_setting( const Setting &element, const int index )
343		{
344		if( !element.isList())
345		ui_error( "only TypeList elements could be indexed by integers", element );
346
347		if( element.getLength() <= index )
348		ui_error( "there is not any child with index " + index, element );
349
350		return element[index];
351		}
352
353		const Setting& UI::reference_to_child_setting( const Setting &element, const string &name )
354		{
355		ASSERT_UITYPE(element,TypeGroup);
356		if( !element.exists( name ) )
357		ui_error( "there is not any child named """ + name, element );
358		return element[name];
359		}
360
361
362		}
363
	404	//! This methods tries to save an instance of type T (or some of its descendant types)
	405	//! and build DOM tree accordingly. Then, it creates a new DOMNode named according class_name
	406	//! and connecti it to the passed Setting as a new child node.
	407	const Setting& UI::to_child_setting( const Setting &element, const int index )
	408	{
	409	if ( !element.isList())
	410	ui_error( "only TypeList elements could be indexed by integers", element );
	411
	412	if ( element.getLength() <= index )
	413	ui_error( "there is not any child with index " + index, element );
	414
	415	return element[index];
	416	}
	417
	418	const Setting& UI::to_child_setting( const Setting &element, const string &name )
	419	{
	420	ASSERT_UITYPE(element,TypeGroup);
	421	if ( !element.exists( name ) )
	422	ui_error( "there is not any child named """ + name, element );
	423	return element[name];
	424	}
	425
	426
	427	}
	428

bdm/user_info.h

r351	r357
1		#ifndef UIBUILD
2		#define UIBUILD
3
4
5		#include <sstream>
6		#include <iostream>
	1	#ifndef USER_INFO_H
	2	#define USER_INFO_H
	3
7	4	#include <stdio.h>
8	5	#include <string>
9	6	#include <typeinfo>
10	7	#include <map>
11		~~#include <utility>~~
12		~~#include <vector>~~
13		~~#include <iostream>~~
14	8
15	9	#include "libconfig/libconfig.h++"
16
17		#include <itpp/itbase.h>
18
19		#include "stat/libBM.h"
	10	#include "bdmroot.h"
	11	#include "itpp/itbase.h"
	12
20	13
21	14	using std::string;
…	…
35	28
36	29	public:
37		//! attach new RootElement instance to a file (typically with an XML extension)
	30	//! create empty object prepared to store Settings
	31	UI_File();
	32
	33	//! creates object and fills it from a file
38	34	UI_File( const string &file_name );
39	35
40		//! loads root element from a file
41		void load();
42
43		//! save UserInfo to the file (typically with an XML extension)
44		void save();
	36	//! save UserInfo to the file
	37	void save(const string &file_name);
45	38
46	39	operator Setting&();
…	…
141	134	//! and build DOM tree accordingly. Then, it creates a new DOMNode named according class_name
142	135	//! and connecti it to the passed Setting as a new child node.
143		static const Setting* pointer_to_child_setting( const Setting &element, const int index );
144
145		static const Setting* pointer_to_child_setting( const Setting &element, const string &name );
146
147		static const Setting& reference_to_child_setting( const Setting &element, const int index );
148
149		static const Setting& reference_to_child_setting( const Setting &element, const string &name );
	136	static const Setting& to_child_setting( const Setting &element, const int index );
	137
	138	static const Setting& to_child_setting( const Setting &element, const string &name );
150	139
151	140
…	…
153	142	static void from_setting( mat& matrix, const Setting &element );
154	143	//! This methods tries to build a new integer vector
155		static void from_setting( ivec &vec, const Setting &element );
	144	static void from_setting( ivec &vector, const Setting &element );
156	145	// jednak kvuli pretypovani, apak taky proto, ze na string nefunguje link_expander..
157	146	static void from_setting( string &str, const Setting &element );
158	147	//! This methods tries to build a new templated array
	148
	149	static void from_setting( vec &vector, const Setting &element );
159	150
160	151	template<class T> static void from_setting( T* &instance, const Setting &element )
…	…
213	204	}
214	205
	206	static void ui_error( string message, const Setting &element );
	207
215	208	protected:
216	209	//! default constructor
…	…
223	216	virtual ~UI(){};
224	217
225
226	218	public:
227		~~static void ui_error( string message, const Setting &element )~~
228		{
229		~~stringstream error_message;~~
230		~~error_message << "UI ui_error: " << message << "! Check path """ << element.getPath() << """, source line " << element.getSourceLine() << ".";~~
231		~~it_error ( error_message.str() );~~
232		}
233
234	219	//! This methods tries to build a new instance of type T (or some of its descendant types)
235	220	//! according to a data stored in a DOMNode named class_name within a child nodes of the passed element.
236		//! If an ~~ui_~~error occurs, it returns a NULL pointer.
	221	//! If an error occurs, it returns a NULL pointer.
237	222
238	223	//! Prototype of a UI builder. Return value is by the second argument since it type checking via \c dynamic_cast.
…	…
240	225	{
241	226	T* instance;
242		from_setting<T>( ~~reference_~~to_child_setting( element, index ) );
	227	from_setting<T>( to_child_setting( element, index ) );
243	228	return instance;
244	229	}
…	…
247	232	{
248	233	T* instance;
249		from_setting<T>( instance, ~~reference_~~to_child_setting( element, name ) );
	234	from_setting<T>( instance, to_child_setting( element, name ) );
250	235	return instance;
251	236	}
252	237
253	238	//! This methods tries to build a new double matrix
254		template<class T> static bool get( T &instance, const Setting &element, const string &name )
255		{
256		const Setting *root = pointer_to_child_setting( element, name );
257		if( !root ) return false;
258		from_setting( instance, *root );
259		return true;
260		}
261
262		//! This methods tries to build a new double matrix
263		template<class T> static bool get( T &instance, const Setting &element, const int index )
264		{
265		const Setting *root = pointer_to_child_setting( element, index );
266		if( !root ) return false;
267		from_setting( instance, *root );
268		return true;
269		}
270
271		//! This methods tries to build a new double matrix
272		template<class T> static bool get( Array<T> &array_to_load, const Setting &element, const string &name )
273		{
274		const Setting *root = pointer_to_child_setting( element, name );
275		if( !root ) return false;
276		from_setting( array_to_load, *root );
277		return true;
278		}
279
280		//! This methods tries to build a new double matrix
281		template<class T> static bool get( Array<T> &array_to_load, const Setting &element, const int index )
282		{
283		const Setting *root = pointer_to_child_setting( element, index );
284		if( !root ) return false;
285		from_setting( array_to_load, *root );
286		return true;
	239	template<class T> static void get( T &instance, const Setting &element, const string &name )
	240	{
	241	from_setting( instance, to_child_setting( element, name ) );
	242	}
	243
	244	//! This methods tries to build a new double matrix
	245	template<class T> static void get( T &instance, const Setting &element, const int index )
	246	{
	247	from_setting( instance, to_child_setting( element, index ) );
	248	}
	249
	250	//! This methods tries to build a new double matrix
	251	template<class T> static void get( Array<T> &array_to_load, const Setting &element, const string &name )
	252	{
	253	from_setting( array_to_load, to_child_setting( element, name ) );
	254	}
	255
	256	//! This methods tries to build a new double matrix
	257	template<class T> static void get( Array<T> &array_to_load, const Setting &element, const int index )
	258	{
	259	from_setting( array_to_load, to_child_setting( element, index ) );
287	260	}
288	261
…	…
325	298	static void save( const ivec &vec, Setting &element, const string &name = "" );
326	299
	300	static void save( const vec &vector, Setting &element, const string &name);
	301
327	302	private:
328	303	//! This methods tries to save a double vec
…	…
385	360	*/
386	361
387		#endif // #ifndef U~~IBUILD~~
	362	#endif // #ifndef USER_INFO_H

doc/local/codingrules.dox

r33	r357
8	8	\section cr_variables Default Naming Rules for Variables
9	9
10		Variables are named using lower-case letters and words are separated
11		u~~sing under-score. Abbreviations, when used in variable names, are also~~
12		~~written with lower-case letters~~. Examples:
	10	Generally, variables are named using lower-case letters and words are separated using
	11	under-score. But there are many exceptions, for instance abbreviations or classical
	12	matematical notations. Therefore, coding rules for variables are quite free. Examples:
13	13
14	14	<ul>
15		<li> \c `~~fft~~_size' </li>
16		<li> \c `~~nrof_paths~~' </li>
17		<li> \c `my_variable~~_name~~' </li>
	15	<li> \c `FFT_size' </li>
	16	<li> \c `initial_RV' </li>
	17	<li> \c `my_variable' </li>
18	18	</ul>
19
20		~~Some variable names or parts of variable names are commonly used in~~
21		~~several different functions and files to denote the same thing. For~~
22		~~instance the following common names and prefixes should be used:~~
23
24		~~<ul>~~
25		~~<li> \c `rows' - number of rows in a matrix </li>~~
26		~~<li> \c `cols' - number of columns in a matrix </li>~~
27		~~<li> \c `nrof_' - number of ... </li>~~
28		~~</ul>~~
29
30	19
31	20	\section cr_files Default Naming Rules for Files
32	21
33	22	Files are named using lower-case letters and words are separated using
34		under-score. ~~Abbreviations, when used in file names, are also written~~
35		with lower-case letters.
	23	under-score. If an abbreviation is inevitable within file name, it is written with
	24	lower-case letters.
36	25
37	26	Source files are named using <tt>`.cpp'</tt> suffix, whereas header
…	…
40	29	<ul>
41	30	<li> <tt>`my_file.h'</tt> </li>
42		<li> <tt>`~~my_file~~.cpp'</tt> </li>
	31	<li> <tt>`user_info.cpp'</tt> </li>
43	32	</ul>
44	33
	34	\section cr_file_templates Form of the source files
	35
	36	For all the library classes, both header file `[filename].h' and source file
	37	`[filename].cpp' should be implemented. And the following few rules should be
	38	respected
	39
	40	<ul>
	41
	42	<li> if possible, each `#inline ... ' dircetive should be located within the `.h'
	43	file, one obvious exception is the case of `#inline [filename].h' written in
	44	`[filename].cpp' </li>
	45
	46	<li> firstly, system headers should be included (i.e. those with brackets
	47	`#include <header_name>'), other headers (like `#include my_header_name.h')
	48	should follow (this rule leads to the faster search of an error on some
	49	compilators) </li>
	50
	51	<li> source code itself should be placed in the `.cpp' file, `.h' should
	52	contains only class declarations and documentation (this rule has a few exceptions like
	53	inline functions, templates and some extremely short function bodies)</li>
	54
	55	</ul>
	56
	57	Rules considering formatting of the source code itself are stored in the
	58	file \system\astylerc, which is a configuration file for code formating
	59	utility named ASTYLE. To apply them, download the proper version from
	60	its web page http://astyle.sourceforge.net/
45	61
46	62	\section cr_functions Default Naming Rules for Functions
…	…
71	87
72	88	Each new word in a class or structure name should always start with a
73		capital letter and the words should ~~be separated with an~~
74		~~under-score. Abbreviations are~~ written with capital letters. Examples:
	89	capital letter and the words should not be separated. Abbreviations are
	90	written with capital letters. Examples:
75	91
76	92	<ul>
77		<li> \c `My~~_Class_~~Name' </li>
78		<li> \c ~~`My_Struct_~~Name' </li>
	93	<li> \c `MyClassName' </li>
	94	<li> \c `MyStructName' </li>
79	95	<li> \c `OFDM' </li>
80	96	</ul>

install.html

r302	r357
1		Please see installation instructions in:
2		doc/html/install.html
	1	<!doctype HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
3	2
4		or online:
5		http://mys.utia.cas.cz:1800/trac/bdm/doxygen/install.html
	3	<html>
	4	<head>
	5	<META HTTP-EQUIV="Content-Type" content="text/html; charset=windows-1250">
	6	<title>Install notes</title>
	7	</head>
	8
	9	<body>
	10	Please see installation instructions in:<br>
	11	doc/html/install.html<br>
	12	or online:<br>
	13	<a href=http://mys.utia.cas.cz:1800/trac/bdm/doxygen/install.html>http://mys.utia.cas.cz:1800/trac/bdm/doxygen/install.html</a>
	14	</body>
	15

library/estimator.cpp

r281	r357
48	48	*/
49	49
50		#include <stat/libDS_ui.h>
51		#include <estim/arx_ui.h>
	50	#include "stat/libDS.h"
	51	#include "estim/arx.h"
	52	#include "user_info.h"
	53	#include "stat/loggers.h"
52	54
53	55	using namespace bdm;
…	…
59	61	else {
60	62	cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg";
61		abort();
	63	//abort();
62	64	}
63		UIFile F ( fname );
	65	fname = "arx_test.cfg";
	66	UI_File F ( fname );
64	67
65		logger* L;
66		ArxDS * DS;
67		BM* E;
68		int Ndat;
69
70		try {
71		UIbuild ( F.lookup ( "logger" ),L );
72		UIbuild ( F.lookup ( "system" ),DS );
73		F.lookupValue ( "experiment.ndat",Ndat );
74		UIbuild ( F.lookup ( "estimator" ),E );
75		}
76		catch UICATCH;
	68	logger* L = UI::build<logger>( F, "logger");
	69	ArxDS * DS = UI::build<ArxDS>( F, "system" );
	70	BM* E = UI::build<BM>( F, "estimator" );
	71	int Ndat = F.lookupValue ( "experiment.ndat",Ndat );
77	72
78	73	DS->log_add ( *L );

library/tutorial/arx_mex_test.cfg

r278	r357
11	11	//estimation
12	12	estimator = {
13		type = "ARX~~est~~";
14		y = {type="~~rv"; names=["y"]~~; };
15		rgr = {type="rv";
16		names = ~~["y","y","y","u"]~~;
	13	type = "ARX";
	14	y = {type="RV"; names=("y"); };
	15	rgr = {type="RV";
	16	names = ("y","y","y","u");
17	17	times = [-1, -2, -3, -1];
18	18	};

library/tutorial/arx_test.cfg

r278	r357
1	1	//Data generating system
2	2	system = {
3		~~type~~ = "ArxDS";
4		y = {~~type="rv"; names=["y", "u"]~~;};
5		u = {~~type="rv"; names=[]~~; };
6		rgr = {~~type="rv~~";
7		names = ~~["y","y","y","u"]~~;
	3	class = "ArxDS";
	4	y = {class="RV"; names=("y", "u");};
	5	u = {class="RV"; names=(); };
	6	rgr = {class="RV";
	7	names = ("y","y","y","u");
8	8	times = [-1, -2, -3, -1];
9	9	};
10	10	//AR parameters
11		theta = [0.8, -0.3, 0.4, 1.0,
12		~~0.0, 0.0, 0.0, 0.0]~~;
	11	theta = (2,4,[0.8, -0.3, 0.4, 1.0,
	12	0.0, 0.0, 0.0, 0.0]);
13	13	// offset
14	14	offset = [0.0, 0.0];
15	15	//variance
16		r = [0.1, 0.0,
17		~~0.0, 1.0]~~;
	16	r = (2,2,[0.1, 0.0,
	17	0.0, 1.0] );
18	18	// log also theta
19	19	opt="L_theta";
…	…
22	22	//store results
23	23	logger = {
24		~~type~~= "dirfilelog";
	24	class= "dirfilelog";
25	25	dirname = "exp/arx_ui";
26	26	maxlen = 1000; //
…	…
29	29	//estimation
30	30	estimator = {
31		~~type = "ARXest~~";
32		y = {~~type="rv"; names=["y"]~~; };
33		rgr = {~~type="rv~~";
34		names = ~~["y","y","y","u"]~~;
	31	class = "ARX";
	32	y = {class="RV"; names=("y"); };
	33	rgr = {class="RV";
	34	names = ("y","y","y","u");
35	35	times = [-1, -2, -3, -1];
36	36	};

system/win32/INSTALL.txt

r322	r357
9	9	* ACML
10	10	* ITPP
11		* ~~XSD~~
	11	* ASTYLE
12	12	When these are available, please make sure that the
13		~~CMake_module/FindACML and CMake_module~~/FindITPP can find it.
	13	system/FindACML and system/FindITPP can find it.
14	14
15	15	Convenience:
…	…
18	18	If you want to use them copy the content of the zip file to win32\ directory and
19	19	make sure to set your PATH environment variable:
20		Path = %PATH%; <mixpp_dir>\win32\dll
	20	Path = %PATH%; <mixpp_dir>\system\win32\dll
21	21	Otherwise you will not be able to run any programs.
22	22
…	…
27	27	* It should generate build files for your compiler in the main BDM
28	28	directory
	29	* To include ASTYLE code formatting utility directly into Visual Studio, follow
	30	these steps:
	31	1) Go to Tools->External Tools.
	32	2) Click Add
	33	3) Make the title Astyle
	34	4) Make the command: [bdmdir]\system\win32\astyle_1.23_windows\astyle\bin\astyle.exe
	35	5) Make the arguments: --options=[bdmdir]\system\astylerc $(ItemPath)
	36

tests/CMakeLists.txt

r322	r357
12	12	EXEC(datalink_test)
13	13	EXEC(loggers_test)
	14	EXEC(testUI)
14	15
15	16	EXEC(chmat_test)
…	…
39	40	EXEC(blas_test)
40	41
41		~~add_subdirectory(UI)~~
42	42	add_subdirectory(tutorial)

tests/testUI.cpp

r351	r357
1	1
2	2	#include <string>
3
4		#include <user_info.h>
	3	#include "user_info.h"
5	4
6	5	using std::string;
…	…
12	11	public:
13	12
14		Passenger()
15		{
16		}
	13	Passenger() {
	14	}
17	15	};
18	16
…	…
20	18	{
21	19	public:
22		string name;
23
24		Human()
25		{
26		name = "none";
27		}
28
29		virtual void from_setting( const Setting &root )
30		{
31		root.lookupValue( "name", name );
32		}
33
34		virtual void to_setting( Setting &root ) const
35		{
36		Setting &name_setting = root.add("name", Setting::TypeString );
37		name_setting = name;
38		}
39
40		string ToString()
41		{
42		return name;
43		}
	20	string name;
	21
	22	Human() {
	23	name = "none";
	24	}
	25
	26	virtual void from_setting(const Setting &root) {
	27	root.lookupValue("name", name);
	28	}
	29
	30	virtual void to_setting(Setting &root) const {
	31	Setting &name_setting = root.add("name", Setting::TypeString);
	32	name_setting = name;
	33	}
	34
	35	string to_string() {
	36	return name;
	37	}
44	38	};
45	39
…	…
49	43	{
50	44	public:
51		int number;
52		Array<string> software;
53
54		Robot() : software()
55		{
56		number = -1;
57		}
58
59		virtual void from_setting( const Setting &root )
60		{
61		root.lookupValue( "number", number );
62
63		UI::get( software, root, "software" );
64		}
65
66		virtual void to_setting( Setting &root ) const
67		{
68		Setting &number_setting = root.add("number", Setting::TypeInt );
69		number_setting = number;
70
71		UI::save( software, root, "software" );
72		}
73
74		string ToString()
75		{
76		stringstream stream;
77		stream << number;
78		for( int i = 0; i<software.length(); i++)
79		stream << "_" + software(i);
80		return stream.str();
81		}
	45	int number;
	46	Array<string> software;
	47
	48	Robot() : software() {
	49	number = -1;
	50	}
	51
	52	virtual void from_setting(const Setting &root) {
	53	root.lookupValue("number", number);
	54	if( root.exists( "software" ) )
	55	UI::get(software, root, "software");
	56	}
	57
	58	virtual void to_setting(Setting &root) const {
	59	Setting &number_setting = root.add("number", Setting::TypeInt);
	60	number_setting = number;
	61
	62	UI::save(software, root, "software");
	63	}
	64
	65	string to_string() {
	66	stringstream stream;
	67	stream << number;
	68	for (int i = 0; i < software.length(); i++)
	69	stream << "_" + software(i);
	70	return stream.str();
	71	}
82	72	};
83	73
…	…
87	77	{
88	78	public:
89		int year;
90		string manufacturer;
91
92		Transport()
93		{
94		year = 1900;
95		manufacturer = "unknown";
96		}
97
98		Transport( int year, string manufacturer )
99		: year( year ), manufacturer( manufacturer )
100		{
101		}
102
103		virtual void from_setting( const Setting &root )
104		{
105		root.lookupValue( "year", year );
106		root.lookupValue( "manufacturer", manufacturer );
107		}
108
109		virtual void to_setting( Setting &root ) const
110		{
111		Setting &year_setting = root.add("year", Setting::TypeInt );
112		year_setting = year;
113
114		Setting &manufacturer_setting = root.add("manufacturer", Setting::TypeString );
115		manufacturer_setting = manufacturer;
116		}
	79	int year;
	80	string manufacturer;
	81
	82	Transport() {
	83	year = 1900;
	84	manufacturer = "unknown";
	85	}
	86
	87	Transport(int year, string manufacturer)
	88	: year(year), manufacturer(manufacturer) {
	89	}
	90
	91	virtual void from_setting(const Setting &root) {
	92	root.lookupValue("year", year);
	93	root.lookupValue("manufacturer", manufacturer);
	94	}
	95
	96	virtual void to_setting(Setting &root) const {
	97	Setting &year_setting = root.add("year", Setting::TypeInt);
	98	year_setting = year;
	99
	100	Setting &manufacturer_setting = root.add("manufacturer", Setting::TypeString);
	101	manufacturer_setting = manufacturer;
	102	}
117	103	};
118	104
…	…
120	106	{
121	107	public:
122		int kilometers;
123		Array<Passenger*> passengers;
124
125		Car() : Transport()
126		{
127		kilometers = 0;
128		}
129
130
131		Car( int year, string manufacturer, int kilometers )
132		: Transport( year, manufacturer ), kilometers( kilometers )
133		{
134		}
135
136		virtual void from_setting( const Setting &root )
137		{
138		Transport::from_setting( root );
139
140		root.lookupValue( "kilometers", kilometers );
141
142		UI::get( passengers, root, "passengers" );
143		}
144
145		virtual void to_setting( Setting &root ) const
146		{
147		Transport::to_setting( root );
148
149		Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
150		kilometers_setting = kilometers;
151
152		UI::save( passengers, root, "passengers" );
153		}
154
155		string ToString()
156		{
157		stringstream stream;
158		stream << "A car made in " << year << " by " << manufacturer << ", having " << kilometers << " kilometers on the clock.";
159		if( passengers.length() )
160		{
161		stream << "The names of passengers are as follows: ";
162		for( int i=0; i<passengers.length(); i++)
163		stream << passengers(i)->ToString() << " ";
164		}
165		return stream.str();
166		}
	108	int kilometers;
	109	Array<Passenger*> passengers;
	110
	111	Car() : Transport() {
	112	kilometers = 0;
	113	}
	114
	115
	116	Car(int year, string manufacturer, int kilometers)
	117	: Transport(year, manufacturer), kilometers(kilometers) {
	118	}
	119
	120	virtual void from_setting(const Setting &root) {
	121	Transport::from_setting(root);
	122
	123	root.lookupValue("kilometers", kilometers);
	124
	125	if( root.exists( "passengers" ) )
	126	UI::get(passengers, root, "passengers");
	127	}
	128
	129	virtual void to_setting(Setting &root) const {
	130	Transport::to_setting(root);
	131
	132	Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt);
	133	kilometers_setting = kilometers;
	134
	135	UI::save(passengers, root, "passengers");
	136	}
	137
	138	string to_string() {
	139	stringstream stream;
	140	stream << "A car made in " << year << " by " << manufacturer << ", having " << kilometers << " kilometers on the clock.";
	141	if (passengers.length()) {
	142	stream << "The names of passengers are as follows: ";
	143	for (int i = 0; i < passengers.length(); i++)
	144	stream << passengers(i)->to_string() << " ";
	145	}
	146	return stream.str();
	147	}
167	148	};
168	149
…	…
172	153	{
173	154	public:
174		bool electricLights;
175		mat matr;
176
177		Bike() : Transport(), matr("2,2;3,4")
178		{
179		electricLights = false;
180		}
181
182		Bike( int year, string manufacturer, bool electricLights )
183		: Transport( year, manufacturer ), electricLights( electricLights )
184		{
185		}
186
187		~Bike()
188		{
189		}
190
191		void from_setting( const Setting &root )
192		{
193		Transport::from_setting( root );
194
195		root.lookupValue( "electricLights", electricLights );
196
197		UI::get( matr, root, "matr" );
198		}
199
200		void to_setting( Setting &root ) const
201		{
202		Transport::to_setting( root );
203
204		Setting &electricLights_setting = root.add("electricLights", Setting::TypeBoolean );
205		electricLights_setting = electricLights;
206
207		UI::save( matr, root, "matr" );
208		}
209
210		string ToString()
211		{
212		stringstream stream;
213		stream << "a bike made in " << year << " by " << manufacturer;
214		if( electricLights ) stream << " with electric lights included";
215		return stream.str();
216		}
	155	bool electricLights;
	156	mat matr;
	157
	158	Bike() : Transport(), matr("2,2;3,4") {
	159	electricLights = false;
	160	}
	161
	162	Bike(int year, string manufacturer, bool electricLights)
	163	: Transport(year, manufacturer), electricLights(electricLights) {
	164	}
	165
	166	~Bike() {
	167	}
	168
	169	void from_setting(const Setting &root) {
	170	Transport::from_setting(root);
	171
	172	root.lookupValue("electricLights", electricLights);
	173
	174	UI::get(matr, root, "matr");
	175	}
	176
	177	void to_setting(Setting &root) const {
	178	Transport::to_setting(root);
	179
	180	Setting &electricLights_setting = root.add("electricLights", Setting::TypeBoolean);
	181	electricLights_setting = electricLights;
	182
	183	UI::save(matr, root, "matr");
	184	}
	185
	186	string to_string() {
	187	stringstream stream;
	188	stream << "a bike made in " << year << " by " << manufacturer;
	189	if (electricLights) stream << " with electric lights included";
	190	return stream.str();
	191	}
217	192	};
218	193
…	…
220	195
221	196	int main()
222		{
223		//////////////////////////////////// LOADING ////////////////////////////////
224		UI_File in("testUI_in.cfg");
225		in.load();
226		Transport *pepikovo = UI::build<Transport>( in, "pepikovo");
227		cout << "pepikovo: " << pepikovo->ToString() << endl;
228		Transport *jardovo = UI::build<Transport>( in, "jardovo");
229		cout << "jardovo: " << jardovo->ToString() << endl;
230		Transport *ondrejovo = UI::build<Transport>( in, "ondrejovo");
231		cout << "ondrejovo: " << ondrejovo->ToString() << endl;
232		Transport *elisky = UI::build<Transport>( in, "elisky");
233		cout << "elisky: " << elisky->ToString() << endl;
234		Transport *kati = UI::build<Transport>( in, "kati");
235		cout << "kati: " << kati->ToString() << endl;
236		getchar();
237
238		/////////////////////////////////// SAVING //////////////////////////
239
240		Car audi( 1968, "zyl", 200);
241		Car liaz( 1989, "skoda", 1000);
242		Bike author( 2001, "noname", false );
243		UI_File out("testUI_out.cfg");
244
245		UI::save( &audi, out, "marty");
246		UI::save( &liaz, out, "bohousovo");
247		UI::save( &author, out, "karlovo");
248		UI::save( pepikovo, out, "pepikovo");
249		out.save();
250
251		cout << "all the transport means were saved correctly" << endl;
252		getchar();
253		return 0;
	197	{
	198	//////////////////////////////////// LOADING ////////////////////////////////
	199	UI_File in("testUI_in.cfg");
	200	Transport *pepikovo = UI::build<Transport>(in, "pepikovo");
	201	cout << "pepikovo: " << pepikovo->to_string() << endl;
	202	Transport *jardovo = UI::build<Transport>(in, "jardovo");
	203	cout << "jardovo: " << jardovo->to_string() << endl;
	204	Transport *ondrejovo = UI::build<Transport>(in, "ondrejovo");
	205	cout << "ondrejovo: " << ondrejovo->to_string() << endl;
	206	Transport *elisky = UI::build<Transport>(in, "elisky");
	207	cout << "elisky: " << elisky->to_string() << endl;
	208	Transport *kati = UI::build<Transport>(in, "kati");
	209	cout << "kati: " << kati->to_string() << endl;
	210	getchar();
	211
	212	/////////////////////////////////// SAVING //////////////////////////
	213
	214	Car audi(1968, "zyl", 200);
	215	Car liaz(1989, "skoda", 1000);
	216	Bike author(2001, "noname", false);
	217	UI_File out;
	218
	219	UI::save(&audi, out, "marty");
	220	UI::save(&liaz, out, "bohousovo");
	221	UI::save(&author, out, "karlovo");
	222	UI::save(pepikovo, out, "pepikovo");
	223	out.save("testUI_out.cfg");
	224
	225	cout << "all the transport means were saved correctly" << endl;
	226	getchar();
	227	return 0;
254	228	}

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CMakeLists.txt

applications/doprava/k1.cpp

applications/mpdm/CMakeLists.txt

applications/pmsm/CMakeLists.txt

applications/pmsm/TR2245/pmsm_wishart.cpp

applications/pmsm/TR2245/unitsteps.cpp

applications/pmsm/TR2245/wishart.cpp

applications/pmsm/pmsm.h

applications/pmsm/pmsmDS.h

applications/pmsm/pmsm_estim.cpp

bdm/CMakeLists.txt

bdm/estim/arx.cpp

bdm/estim/arx.h

bdm/estim/libKF.cpp

bdm/estim/libKF.h

bdm/stat/libBM.cpp

bdm/stat/libBM.h

bdm/stat/libDS.cpp

bdm/stat/libDS.h

bdm/stat/libEF.cpp

bdm/stat/libEF.h

bdm/stat/loggers.cpp

bdm/stat/loggers.h

bdm/user_info.cpp

bdm/user_info.h

doc/local/codingrules.dox

install.html

library/estimator.cpp

library/tutorial/arx_mex_test.cfg

library/tutorial/arx_test.cfg

system/win32/INSTALL.txt

tests/CMakeLists.txt

tests/testUI.cpp

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