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# arx_ctrl.h

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    00001
    00013 #include "../base/bdmbase.h"
    00014 #include "ctrlbase.h"
    00015 #include "../estim/arx.h"
    00016 #include "../estim/kalman.h"
    00017
    00018 namespace bdm{
    00019
    00021         class LQG_ARX : public Controller{
    00022                 protected:
    00024                         shared_prt<ARX> ar;
    00026                         LQG lq;
    00028                         sharer_ptr<StateSpace> stsp;
    00030                 public:
    00032                         LQG_ARX(): ar(), lq(), statemodel(new StateSpace) { }
    00033
    00034                         void initialize() {
    00035
    00036                         }
    00038                         void adapt(){
    00039                                 ARX.to_state_space(stsp);
    00040                         }
    00043
    00055                         void from_settings(const Settings &set){
    00056                                 ar=UI::build<ARX> (set, "ARX",UI::compulsory);
    00057
    00058                                 UI::get(Qu, set, "Qu", UI::compulsory);
    00059                                 UI::get(Qy, set, "Qy", UI::compulsory);
    00060
    00061                                 if (!UI::get(y_req, set, "yreq", UI::optional))
    00062                                         y_req = zeros(yrv._dsize());
    00063                                 if (!UI::get(u_req, set, "ureq", UI::optional))
    00064                                         u_req = zeros(urv._dsize());
    00065                         }
    00066         };
    00067
    00068 } // namespace