Changeset 603

Timestamp:

09/04/09 00:45:40 (15 years ago)

Author:

smidl

Message:

datasources revisited...

Location:

library

Files:

• bdm/base/bdmbase.h (modified) (6 diffs)
• bdm/base/datasources.h (modified) (4 diffs)
• tests/datasource_test.cpp (modified) (3 diffs)

library/bdm/base/bdmbase.h

@@ -242 +242 @@
         //! Minimum time-offset
         int mint() const {
-                return min ( times );
+                        return times.length()>0 ? min (times) : 0;
         }
         //!@}
@@ -676 +676 @@
         //! h2v : indeces in history
         ivec h2v_hist;
+        //! v2h: indeces of up too be pushed to h
+        ivec v2h_up;
 public:
 
@@ -683 +685 @@
                 if ( Hrv._dsize() > 0 ) {
                         history.shift_right ( 0, Hrv._dsize() );
-                        history.set_subvector ( 0, val_up ); // write U after Drv
+                  history.set_subvector ( 0, val_up(v2h_up) ); // write U after Drv
                 }
         }
@@ -708 +710 @@
                 ivec valid_ids = rv.findself_ids ( rv_up );
                 RV rv_hist = rv.subselect ( find ( valid_ids >= 0 ) ); // select only rvs that are in rv_up
+          RV rv_hist0 =rv_hist.remove_time();  // these RVs will form history at time =0
+          v2h_up = rv_hist0.dataind(rv_up); // indeces of elements of rv_up to be copied
+          // now we need to know what is needed from Up
                 rv_hist = rv_hist.expand_delayes(); // full regressor - including time 0
-                Hrv = rv_hist.subt ( rv.remove_time() );   // remove time 0
+          Hrv=rv_hist.subt(rv_hist0);   // remove time 0
                 history = zeros ( Hrv._dsize() );
 
@@ -893 +898 @@
 /*! \brief Abstract class for discrete-time sources of data.
 
-The class abstracts operations of: (i) data aquisition, (ii) data-preprocessing, (iii) scaling of data, and (iv) data resampling from the task of estimation and control.
+The class abstracts operations of: 
+\li  data aquisition, 
+\li  data-preprocessing, such as  scaling of data, 
+\li  data resampling from the task of estimation and control.
 Moreover, for controlled systems, it is able to receive the desired control action and perform it in the next step. (Or as soon as possible).
 
+The DataSource has three main data interaction structures:
+\li input, \f$ u_t \f$, 
+\li output \f$ y_t \f$,
+\li data, \f$ d_t=[y_t,u_t, \ldots ]\f$ a collection of all inputs and outputs and possibly some internal variables too.
+
 */
 
 class DS : public root {
 protected:
+                //! size of data returned by \c getdata()
         int dtsize;
+                //! size of data
         int utsize;
+                //!size of output
+                int ytsize;
         //!Description of data returned by \c getdata().
         RV Drv;
         //!Description of data witten by by \c write().
         RV Urv; //
+                //!Description of output data
+                RV Yrv; //
         //! Remember its own index in Logger L
         int L_dt, L_ut;
 public:
         //! default constructors
-        DS() : Drv(), Urv() {};
+                DS() : Drv(), Urv(),Yrv() {};
 
         //! Returns full vector of observed data=[output, input]
@@ -961 +980 @@
                 return Urv;
         }
+                //!access function
+                const RV& _yrv() const {
+                        return Yrv;
+                }
         //! set random variables
-        virtual void set_drv ( const  RV &drv, const RV &urv ) {
-                Drv = drv;
+                virtual void set_drv (const  RV &yrv, const RV &urv) {
+                    Yrv = yrv;
+                        Drv = concat(yrv,urv);
                 Urv = urv;
         }

library/bdm/base/datasources.h

@@ -103 +103 @@
                 shared_ptr<mpdf> impdf;
                 //! internal storage of data sample
-                vec dt;
+                vec yt;
                 //! input vector
                 vec ut;
-                //! datalink between dt and ut and regressor
-                datalink_2to1_buffered rgrlink;
+                //! datalink between ut and regressor
+                datalink_buffered ut2rgr;
+                //! datalink between yt and regressor
+                datalink_buffered yt2rgr;
                 //! numeric values of regressor
                 vec rgr;
@@ -113 +115 @@
         public:
                 void step() {
-                        rgrlink.filldown ( dt,ut,rgr );
-                        rgrlink.step(dt,ut);//whist history
-                        dt=impdf->samplecond ( rgr );
+                        yt2rgr.step(yt); // y is now history
+                        ut2rgr.filldown ( ut,rgr );
+                        yt2rgr.filldown ( yt,rgr );
+                        yt=impdf->samplecond ( rgr );
+                        ut2rgr.step(ut); //u is now history
                 }
                 void getdata ( vec &dt_out ) {
-                        dt_out = dt;
-                }
-                void getdata ( vec &dt_out, const ivec &ids ) {
-                        dt_out = dt ( ids );
-                }
-                const RV& _drv() const {
-                        return impdf->_rv();
+                        bdm_assert_debug(dt_out.length()>=utsize+ytsize,"Short output vector");
+                        dt_out.set_subvector(0, yt);
+                        dt_out.set_subvector(ytsize, ut);
                 }
                 void write(const vec &ut0){ut=ut0;}
@@ -131 +131 @@
                 \code
                 class = "MpdfDS";
-                mpdf = {class="epdf_offspring", ...}// list of points
+                mpdf = {class="mpdf_offspring", ...}// mpdf to simulate
                 \endcode
 
@@ -138 +138 @@
                         impdf=UI::build<mpdf> ( set,"mpdf",UI::compulsory );
                         
+                        Yrv = impdf->_rv();
                         // get unique rvs form rvc
                         RV rgrv0=impdf->_rvc().remove_time();
-                        // input is what in not in _rv()
-                        RV urv=rgrv0.subt(impdf->_rv()); 
-                        set_drv(impdf->_rv(), urv);
+                        // input is what in not in Yrv
+                        Urv=rgrv0.subt(Yrv); 
+                        set_drv(Yrv, Urv);
                         // connect input and output to rvc
-                        rgrlink.set_connection(impdf->_rvc(), Drv,Urv); 
-
-                        dt = zeros ( impdf->dimension() );
+                        ut2rgr.set_connection(impdf->_rvc(), Urv); 
+                        yt2rgr.set_connection(impdf->_rvc(), Yrv); 
+
+                        yt = zeros ( impdf->dimension() );
                         rgr = zeros ( impdf->dimensionc() );
-                        ut = zeros(urv._dsize());
+                        ut = zeros(Urv._dsize());
+
+                        ytsize=yt.length();
+                        utsize=ut.length();
+                        dtsize = ytsize+utsize;
                 }
 };

library/tests/datasource_test.cpp

@@ -25 +25 @@
         shared_ptr<MpdfDS> ds=UI::build<MpdfDS>(uif, "ds", UI::compulsory);
         
-        vec dt = zeros(1);
+        vec dt = zeros(2);
         vec ut="1.0";
         ds->write(ut);
@@ -32 +32 @@
         }
         ds->getdata(dt);
-        CHECK_CLOSE ( -0.2 , dt(0), 1e-5);
+        CHECK_CLOSE ( -0.2 , dt(0), 1e-4);
 
         ut="2.0";
@@ -40 +40 @@
         }
         ds->getdata(dt);
-        CHECK_CLOSE ( -0.4 , dt(0), 1e-5);
+        CHECK_CLOSE ( -0.4 , dt(0), 1e-4);
 }