Changeset 565 for library/bdm/design

Timestamp:

08/19/09 16:54:24 (15 years ago)

Author:

vbarta

Message:

using own error macros (basically copied from IT++, but never aborting)

Location:

library/bdm/design

Files:

• ctrlbase.cpp (modified) (2 diffs)
• ctrlbase.h (modified) (2 diffs)

library/bdm/design/ctrlbase.cpp

@@ -8 +8 @@
         dimu = B0.cols();
 
-        it_assert_debug ( A0.cols() == dimx, "LQG: A is not square" );
-        it_assert_debug ( B0.rows() == dimx, "LQG: B is not compatible" );
-        it_assert_debug ( C0.cols() == dimx, "LQG: C is not square" );
+        bdm_assert_debug ( A0.cols() == dimx, "LQG: A is not square" );
+        bdm_assert_debug ( B0.rows() == dimx, "LQG: B is not compatible" );
+        bdm_assert_debug ( C0.cols() == dimx, "LQG: C is not square" );
 
         A=A0;
@@ -20 +20 @@
 
 void LQG::set_control_parameters(const mat &Qy0, const mat &Qu0, const vec y_req0, int horizon0){
-        it_assert_debug ( Qy0.cols() == dimy, "LQG: wrong dimensions of Qy " );
-        it_assert_debug ( Qu0.cols() == dimu, "LQG: wrong dimensions of Qu " );
-        it_assert_debug ( y_req0.length() == dimy, "LQG: wrong dimensions of y_req " );
+        bdm_assert_debug ( Qy0.cols() == dimy, "LQG: wrong dimensions of Qy " );
+        bdm_assert_debug ( Qu0.cols() == dimu, "LQG: wrong dimensions of Qu " );
+        bdm_assert_debug ( y_req0.length() == dimy, "LQG: wrong dimensions of y_req " );
 
         Qy=Qy0;

library/bdm/design/ctrlbase.h

@@ -19 +19 @@
         public:
                 //! Redesign control strategy 
-                virtual void redesign(){it_error("Not implemented"); };
+                virtual void redesign() {
+                        bdm_error("Not implemented");
+                }
+
                 //! apply control strategy to obtain control input
-                virtual vec apply(const vec &cond){it_error("Not implemented"); return vec(0);}
+                virtual vec apply(const vec &cond) {
+                        bdm_error("Not implemented");
+                        return vec();
+                }
 };
 
@@ -89 +95 @@
                         pre_qr.set_submatrix(0,0,s*pr);
                         pre_qr.set_submatrix(dimx+dimu+dimy, dimu+dimx, -Qy*y_req);
-                        if (!qr(pre_qr,post_qr)) it_warning("QR in LQG unstable");
+                        if (!qr(pre_qr,post_qr)) bdm_warning("QR in LQG unstable");
                         triu(post_qr);
         // hn(m+1:2*m+n+r,m+1:2*m+n+r);