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  • library/doc/html/ctrlbase_8h_source.html

    r641 r651  
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    53<title>mixpp: ctrlbase.h Source File</title> 
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    … …  
    6663  </div> 
    6764<h1>ctrlbase.h</h1><a href="ctrlbase_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001  
    68 <a name="l00013"></a>00013 <span class="preprocessor">#include &quot;../base/bdmbase.h&quot;</span> 
    69 <a name="l00014"></a>00014 <span class="preprocessor">#include &quot;../estim/kalman.h&quot;</span> 
     65<a name="l00013"></a>00013 <span class="preprocessor">#include "../base/bdmbase.h"</span> 
     66<a name="l00014"></a>00014 <span class="preprocessor">#include "../estim/kalman.h"</span> 
    7067<a name="l00015"></a>00015  
    7168<a name="l00016"></a>00016 <span class="keyword">namespace </span>bdm{ 
    … …  
    7471<a name="l00020"></a>00020          
    7572<a name="l00021"></a>00021         <span class="keyword">public</span>: 
    76 <a name="l00023"></a><a class="code" href="classbdm_1_1Designer.html#ac2855e3a554af0221401626a2904ef22">00023</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Designer.html#ac2855e3a554af0221401626a2904ef22" title="Redesign control strategy.">redesign</a>() { 
    77 <a name="l00024"></a>00024                         <a class="code" href="bdmerror_8h.html#a7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">&quot;Not implemented&quot;</span>); 
     73<a name="l00023"></a><a class="code" href="classbdm_1_1Designer.html#c2855e3a554af0221401626a2904ef22">00023</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Designer.html#c2855e3a554af0221401626a2904ef22" title="Redesign control strategy.">redesign</a>() { 
     74<a name="l00024"></a>00024                         <a class="code" href="bdmerror_8h.html#7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">"Not implemented"</span>); 
    7875<a name="l00025"></a>00025                 } 
    7976<a name="l00026"></a>00026  
    80 <a name="l00028"></a><a class="code" href="classbdm_1_1Designer.html#a334668204e01d468fe107780d10d2bd8">00028</a>                 <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Designer.html#a334668204e01d468fe107780d10d2bd8" title="apply control strategy to obtain control input">apply</a>(<span class="keyword">const</span> vec &amp;cond) { 
    81 <a name="l00029"></a>00029                         <a class="code" href="bdmerror_8h.html#a7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">&quot;Not implemented&quot;</span>); 
     77<a name="l00028"></a><a class="code" href="classbdm_1_1Designer.html#334668204e01d468fe107780d10d2bd8">00028</a>                 <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Designer.html#334668204e01d468fe107780d10d2bd8" title="apply control strategy to obtain control input">apply</a>(<span class="keyword">const</span> vec &amp;cond) { 
     78<a name="l00029"></a>00029                         <a class="code" href="bdmerror_8h.html#7c43f3a72afe68ab0c85663a1bb3521a" title="Unconditionally throw std::runtime_error.">bdm_error</a>(<span class="stringliteral">"Not implemented"</span>); 
    8279<a name="l00030"></a>00030                         <span class="keywordflow">return</span> vec(); 
    8380<a name="l00031"></a>00031                 } 
    … …  
    8683<a name="l00036"></a><a class="code" href="classbdm_1_1LQG.html">00036</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1LQG.html">LQG</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1Designer.html" title="Low-level class for design of control strategy.">Designer</a> { 
    8784<a name="l00037"></a>00037         <span class="keyword">protected</span>: 
    88 <a name="l00039"></a><a class="code" href="classbdm_1_1LQG.html#a9575232a3b04933e6b4c4299bf1bfe15">00039</a>                 <a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr&lt;StateSpace&lt;fsqmat&gt;</a> &gt; <a class="code" href="classbdm_1_1LQG.html#a9575232a3b04933e6b4c4299bf1bfe15" title="StateSpace model from which we read data.">S</a>; 
    89 <a name="l00041"></a><a class="code" href="classbdm_1_1LQG.html#aad002e3dc31c59db7f286b00a8e2fc65">00041</a>                 vec <a class="code" href="classbdm_1_1LQG.html#aad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>; 
    90 <a name="l00043"></a><a class="code" href="classbdm_1_1LQG.html#a8dc7e6ca7949ded1d94ccd78cb8bb2da">00043</a>                 vec <a class="code" href="classbdm_1_1LQG.html#a8dc7e6ca7949ded1d94ccd78cb8bb2da" title="required value of the output y at time t (assumed constant)">u_req</a>; 
     85<a name="l00039"></a><a class="code" href="classbdm_1_1LQG.html#9575232a3b04933e6b4c4299bf1bfe15">00039</a>                 <a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr&lt;StateSpace&lt;fsqmat&gt;</a> &gt; <a class="code" href="classbdm_1_1LQG.html#9575232a3b04933e6b4c4299bf1bfe15" title="StateSpace model from which we read data.">S</a>; 
     86<a name="l00041"></a><a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65">00041</a>                 vec <a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>; 
     87<a name="l00043"></a><a class="code" href="classbdm_1_1LQG.html#8dc7e6ca7949ded1d94ccd78cb8bb2da">00043</a>                 vec <a class="code" href="classbdm_1_1LQG.html#8dc7e6ca7949ded1d94ccd78cb8bb2da" title="required value of the output y at time t (assumed constant)">u_req</a>; 
    9188<a name="l00044"></a>00044                  
    92 <a name="l00046"></a><a class="code" href="classbdm_1_1LQG.html#ae770d283502cf4da978d1d8523309869">00046</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#ae770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>; 
    93 <a name="l00048"></a><a class="code" href="classbdm_1_1LQG.html#a484963959d51059d73d9c6174782cc2f">00048</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>; 
    94 <a name="l00050"></a><a class="code" href="classbdm_1_1LQG.html#a13f14aea28c7f7b074779ece7df5e748">00050</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a13f14aea28c7f7b074779ece7df5e748" title="penalization matrix Qu">Qu</a>; 
    95 <a name="l00052"></a><a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e">00052</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>; 
    96 <a name="l00054"></a><a class="code" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80">00054</a>                 mat <a class="code" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>; 
     89<a name="l00046"></a><a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869">00046</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>; 
     90<a name="l00048"></a><a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f">00048</a>                 mat <a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>; 
     91<a name="l00050"></a><a class="code" href="classbdm_1_1LQG.html#13f14aea28c7f7b074779ece7df5e748">00050</a>                 mat <a class="code" href="classbdm_1_1LQG.html#13f14aea28c7f7b074779ece7df5e748" title="penalization matrix Qu">Qu</a>; 
     92<a name="l00052"></a><a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e">00052</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>; 
     93<a name="l00054"></a><a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80">00054</a>                 mat <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>; 
    9794<a name="l00055"></a>00055                  
    9895<a name="l00058"></a>00058                 <span class="keywordtype">int</span> dimx; 
    99 <a name="l00060"></a><a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09">00060</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>; 
    100 <a name="l00062"></a><a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969">00062</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>; 
     96<a name="l00060"></a><a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09">00060</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>; 
     97<a name="l00062"></a><a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969">00062</a>                 <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>; 
    10198<a name="l00063"></a>00063                  
    102 <a name="l00065"></a><a class="code" href="classbdm_1_1LQG.html#a3f7d31ad976ed1debeeda12949048909">00065</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>; 
    103 <a name="l00067"></a><a class="code" href="classbdm_1_1LQG.html#a98203a62e12acc13ced7ef22e4ac4255">00067</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a98203a62e12acc13ced7ef22e4ac4255" title="penalization">qux</a>; 
    104 <a name="l00069"></a><a class="code" href="classbdm_1_1LQG.html#a0fc6ec35bd9e5f99192b5ff7b0257aef">00069</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a0fc6ec35bd9e5f99192b5ff7b0257aef" title="penalization">qyx</a>; 
    105 <a name="l00071"></a><a class="code" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b">00071</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>; 
    106 <a name="l00073"></a><a class="code" href="classbdm_1_1LQG.html#ab29c3dfff52b54e44a793d62afbb5a63">00073</a>                 mat <a class="code" href="classbdm_1_1LQG.html#ab29c3dfff52b54e44a793d62afbb5a63" title="penalization">qy</a>; 
    107 <a name="l00075"></a><a class="code" href="classbdm_1_1LQG.html#a0f20c8ff99875e3009f2e427247c4c78">00075</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a0f20c8ff99875e3009f2e427247c4c78" title="pre_qr part">hqy</a>; 
    108 <a name="l00077"></a><a class="code" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0">00077</a>                 mat <a class="code" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>; 
    109 <a name="l00079"></a><a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e">00079</a>                 mat <a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>; 
     99<a name="l00065"></a><a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909">00065</a>                 mat <a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>; 
     100<a name="l00067"></a><a class="code" href="classbdm_1_1LQG.html#98203a62e12acc13ced7ef22e4ac4255">00067</a>                 mat <a class="code" href="classbdm_1_1LQG.html#98203a62e12acc13ced7ef22e4ac4255" title="penalization">qux</a>; 
     101<a name="l00069"></a><a class="code" href="classbdm_1_1LQG.html#0fc6ec35bd9e5f99192b5ff7b0257aef">00069</a>                 mat <a class="code" href="classbdm_1_1LQG.html#0fc6ec35bd9e5f99192b5ff7b0257aef" title="penalization">qyx</a>; 
     102<a name="l00071"></a><a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b">00071</a>                 mat <a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>; 
     103<a name="l00073"></a><a class="code" href="classbdm_1_1LQG.html#b29c3dfff52b54e44a793d62afbb5a63">00073</a>                 mat <a class="code" href="classbdm_1_1LQG.html#b29c3dfff52b54e44a793d62afbb5a63" title="penalization">qy</a>; 
     104<a name="l00075"></a><a class="code" href="classbdm_1_1LQG.html#0f20c8ff99875e3009f2e427247c4c78">00075</a>                 mat <a class="code" href="classbdm_1_1LQG.html#0f20c8ff99875e3009f2e427247c4c78" title="pre_qr part">hqy</a>; 
     105<a name="l00077"></a><a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0">00077</a>                 mat <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>; 
     106<a name="l00079"></a><a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e">00079</a>                 mat <a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>; 
    110107<a name="l00081"></a>00081                  
    111108<a name="l00082"></a>00082         <span class="keyword">public</span>: 
    112 <a name="l00084"></a>00084                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ad70ccc26e555b7f96c778a08b0d2153e" title="set system parameters from given matrices">set_system</a>(<a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr</a>&lt;<a class="code" href="classbdm_1_1StateSpace.html">StateSpace&lt;fsqmat&gt;</a> &gt; S0); 
    113 <a name="l00086"></a>00086                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#abe34f68bc868096df1473487b920bae3" title="set penalization matrices and control horizon">set_control_parameters</a>(<span class="keyword">const</span> mat &amp;Qy0, <span class="keyword">const</span> mat &amp;Qu0, <span class="keyword">const</span> vec &amp;y_req0, <span class="keywordtype">int</span> horizon0); 
     109<a name="l00084"></a>00084                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#d70ccc26e555b7f96c778a08b0d2153e" title="set system parameters from given matrices">set_system</a>(<a class="code" href="classbdm_1_1shared__ptr.html" title="A naive implementation of roughly a subset of the std::tr1::shared_ptr spec.">shared_ptr</a>&lt;<a class="code" href="classbdm_1_1StateSpace.html">StateSpace&lt;fsqmat&gt;</a> &gt; S0); 
     110<a name="l00086"></a>00086                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#be34f68bc868096df1473487b920bae3" title="set penalization matrices and control horizon">set_control_parameters</a>(<span class="keyword">const</span> mat &amp;Qy0, <span class="keyword">const</span> mat &amp;Qu0, <span class="keyword">const</span> vec &amp;y_req0, <span class="keywordtype">int</span> horizon0); 
    114111<a name="l00088"></a>00088 <span class="comment">//              void set_system_parameters(const Kalman &amp;K);</span> 
    115 <a name="l00090"></a>00090 <span class="comment"></span>                <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#aec1a44c57a4569335a943462b35c3156" title="set system parameters from Kalman filter">initialize</a>(); 
     112<a name="l00090"></a>00090 <span class="comment"></span>                <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ec1a44c57a4569335a943462b35c3156" title="set system parameters from Kalman filter">initialize</a>(); 
    116113<a name="l00091"></a>00091                 <span class="keywordtype">void</span> validate(); 
    117 <a name="l00093"></a><a class="code" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c">00093</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>(){}; 
    118 <a name="l00095"></a><a class="code" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805">00095</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(){ 
    119 <a name="l00096"></a>00096                         <a class="code" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(0,0,<a class="code" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>*<a class="code" href="classbdm_1_1LQG.html#a3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>); 
    120 <a name="l00097"></a>00097                         <a class="code" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(dimx+<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+<a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>, <a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx, -<a class="code" href="classbdm_1_1LQG.html#a484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>*<a class="code" href="classbdm_1_1LQG.html#aad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>); 
    121 <a name="l00098"></a>00098                         <span class="keywordflow">if</span> (!qr(<a class="code" href="classbdm_1_1LQG.html#ae6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>,<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>)){ <a class="code" href="bdmerror_8h.html#a59c5a63b3878ebcd6cc952fc2b47191c" title="Display a warning message.">bdm_warning</a>(<span class="stringliteral">&quot;QR in LQG unstable&quot;</span>);} 
    122 <a name="l00099"></a>00099                         triu(<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>); 
     114<a name="l00093"></a><a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c">00093</a>                 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>(){}; 
     115<a name="l00095"></a><a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805">00095</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(){ 
     116<a name="l00096"></a>00096                         <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(0,0,<a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>*<a class="code" href="classbdm_1_1LQG.html#3f7d31ad976ed1debeeda12949048909" title="parameters">pr</a>); 
     117<a name="l00097"></a>00097                         <a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>.set_submatrix(dimx+<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx, -<a class="code" href="classbdm_1_1LQG.html#484963959d51059d73d9c6174782cc2f" title="penalization matrix Qy">Qy</a>*<a class="code" href="classbdm_1_1LQG.html#ad002e3dc31c59db7f286b00a8e2fc65" title="required value of the output y at time t (assumed constant)">y_req</a>); 
     118<a name="l00098"></a>00098                         <span class="keywordflow">if</span> (!qr(<a class="code" href="classbdm_1_1LQG.html#e6c9db2abc7a3290f8e2bb851683d7a0" title="pre qr matrix">pre_qr</a>,<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>)){ <a class="code" href="bdmerror_8h.html#59c5a63b3878ebcd6cc952fc2b47191c" title="Display a warning message.">bdm_warning</a>(<span class="stringliteral">"QR in LQG unstable"</span>);} 
     119<a name="l00099"></a>00099                         triu(<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>); 
    123120<a name="l00100"></a>00100         <span class="comment">// hn(m+1:2*m+n+r,m+1:2*m+n+r);</span> 
    124 <a name="l00101"></a>00101                         <a class="code" href="classbdm_1_1LQG.html#a5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>=<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1, <a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1); 
     121<a name="l00101"></a>00101                         <a class="code" href="classbdm_1_1LQG.html#5fc6fe8a5205a1698fb319b58315671b" title="internal quadratic form">s</a>=<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1); 
    125122<a name="l00102"></a>00102                 }; 
    126 <a name="l00103"></a><a class="code" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8">00103</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8" title="Redesign control strategy.">redesign</a>(){ 
    127 <a name="l00104"></a>00104                         <span class="keywordflow">for</span>(<a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>=<a class="code" href="classbdm_1_1LQG.html#ae770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>; <a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>&gt;0; <a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>--){ 
    128 <a name="l00105"></a>00105                                 <a class="code" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>(); 
    129 <a name="l00106"></a>00106                                 <a class="code" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(); 
     123<a name="l00103"></a><a class="code" href="classbdm_1_1LQG.html#e8df589bbdbdd40515f837c9c9560ed8">00103</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#e8df589bbdbdd40515f837c9c9560ed8" title="Redesign control strategy.">redesign</a>(){ 
     124<a name="l00104"></a>00104                         <span class="keywordflow">for</span>(<a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>=<a class="code" href="classbdm_1_1LQG.html#e770d283502cf4da978d1d8523309869" title="Control horizon, set to maxint for infinite horizons.">horizon</a>; <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>&gt;0; <a class="code" href="classbdm_1_1LQG.html#6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&amp;gt;0">td</a>--){ 
     125<a name="l00105"></a>00105                                 <a class="code" href="classbdm_1_1LQG.html#5016aebbb654a0e3d653b8485e0ea86c" title="function for future use which is called at each time td; Should call initialize()!...">update_state</a>(); 
     126<a name="l00106"></a>00106                                 <a class="code" href="classbdm_1_1LQG.html#ddc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(); 
    130127<a name="l00107"></a>00107                         } 
    131128<a name="l00108"></a>00108 <span class="comment">/*                      ws=hn(1:m,m+1:2*m+n+r);</span> 
    132129<a name="l00109"></a>00109 <span class="comment">                        wsd=hn(1:m,1:m);</span> 
    133130<a name="l00110"></a>00110 <span class="comment">                        Lklq=-inv(wsd)*ws;*/</span> 
    134 <a name="l00111"></a>00111                         <a class="code" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a> = -inv(<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, 0,<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1)) * <a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, <a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#aff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1); 
     131<a name="l00111"></a>00111                         <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a> = -inv(<a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, 0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1)) * <a class="code" href="classbdm_1_1LQG.html#13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>.get(0,<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>-1, <a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>, 2*<a class="code" href="classbdm_1_1LQG.html#ff701d81aa4f32e0a07a5910f06c8969" title="convenience parameters">dimu</a>+dimx+<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>-1); 
    135132<a name="l00112"></a>00112                 } 
    136 <a name="l00113"></a>00113                 vec apply(<span class="keyword">const</span> vec &amp;state, <span class="keyword">const</span> vec &amp;ukm){vec pom=concat(state, ones(<a class="code" href="classbdm_1_1LQG.html#a753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>), ukm); <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1LQG.html#ad78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>*pom;} 
     133<a name="l00113"></a>00113                 vec apply(<span class="keyword">const</span> vec &amp;state, <span class="keyword">const</span> vec &amp;ukm){vec pom=concat(state, ones(<a class="code" href="classbdm_1_1LQG.html#753e909ac3694cde54b4fc718e24fa09" title="convenience parameters">dimy</a>), ukm); <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1LQG.html#d78bb29a213eef033a9657ec2f592e80" title="controller parameters">L</a>*pom;} 
    137134<a name="l00114"></a>00114         } ; 
    138135<a name="l00115"></a>00115  
    139136<a name="l00119"></a><a class="code" href="classbdm_1_1Controller.html">00119</a>         <span class="keyword">class </span><a class="code" href="classbdm_1_1Controller.html">Controller</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1root.html" title="Root class of BDM objects.">root</a> { 
    140 <a name="l00121"></a>00121                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> yrv; 
    141 <a name="l00123"></a>00123                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> urv; 
    142 <a name="l00125"></a>00125                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> drv; 
    143 <a name="l00126"></a>00126                 <span class="keyword">public</span>: 
    144 <a name="l00128"></a><a class="code" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774">00128</a>                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774" title="function processing new observations and adapting control strategy accordingly">adapt</a>(<span class="keyword">const</span> vec &amp;data){}; 
    145 <a name="l00130"></a><a class="code" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180">00130</a>                         <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180" title="returns designed control action">ctrlaction</a>(<span class="keyword">const</span> vec &amp;data){<span class="keywordflow">return</span> vec(0);} 
    146 <a name="l00131"></a>00131                          
    147 <a name="l00132"></a><a class="code" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77">00132</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77" title="This method arrange instance properties according the data stored in the Setting...">from_setting</a>(<span class="keyword">const</span> Setting &amp;<span class="keyword">set</span>){ 
    148 <a name="l00133"></a>00133                                 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(yrv,<span class="keyword">set</span>,<span class="stringliteral">&quot;yrv&quot;</span>,UI::optional); 
    149 <a name="l00134"></a>00134                                 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(yrv,<span class="keyword">set</span>,<span class="stringliteral">&quot;urv&quot;</span>,UI::optional); 
    150 <a name="l00135"></a>00135                         } 
    151 <a name="l00137"></a><a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d">00137</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d" title="access function">_urv</a>() {<span class="keywordflow">return</span> urv;} 
    152 <a name="l00139"></a><a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0">00139</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0" title="access function">_yrv</a>() {<span class="keywordflow">return</span> yrv;} 
    153 <a name="l00141"></a><a class="code" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498">00141</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498" title="access function">_drv</a>() {<span class="keywordflow">return</span> drv;} 
    154 <a name="l00142"></a>00142         }; 
    155 <a name="l00143"></a>00143                          
    156 <a name="l00144"></a>00144 } <span class="comment">// namespace</span> 
     137<a name="l00120"></a>00120                 <span class="keyword">protected</span>: 
     138<a name="l00122"></a><a class="code" href="classbdm_1_1Controller.html#2ae938d29716585c5385df37ae861e18">00122</a>                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1Controller.html#2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>; 
     139<a name="l00124"></a><a class="code" href="classbdm_1_1Controller.html#357598cc95da1eed3d50751847e71f37">00124</a>                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1Controller.html#357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>; 
     140<a name="l00126"></a><a class="code" href="classbdm_1_1Controller.html#10a2a88a4c275ead6aa2887a3b826b19">00126</a>                 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1Controller.html#10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>; 
     141<a name="l00128"></a><a class="code" href="classbdm_1_1Controller.html#8574445175a07f536fd3db007e1eac41">00128</a>                 ivec <a class="code" href="classbdm_1_1Controller.html#8574445175a07f536fd3db007e1eac41" title="vector of logger IDs">LIDs</a>; 
     142<a name="l00129"></a>00129                 <span class="keyword">public</span>: 
     143<a name="l00131"></a><a class="code" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774">00131</a>                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774" title="function processing new observations and adapting control strategy accordingly">adapt</a>(<span class="keyword">const</span> vec &amp;data){}; 
     144<a name="l00133"></a><a class="code" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180">00133</a>                         <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180" title="returns designed control action">ctrlaction</a>(<span class="keyword">const</span> vec &amp;data){<span class="keywordflow">return</span> vec(0);} 
     145<a name="l00134"></a>00134                          
     146<a name="l00135"></a><a class="code" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77">00135</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77" title="This method arrange instance properties according the data stored in the Setting...">from_setting</a>(<span class="keyword">const</span> Setting &amp;<span class="keyword">set</span>){ 
     147<a name="l00136"></a>00136                                 <a class="code" href="classbdm_1_1UI.html#cd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"yrv"</span>,UI::optional); 
     148<a name="l00137"></a>00137                                 <a class="code" href="classbdm_1_1UI.html#cd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"urv"</span>,UI::optional); 
     149<a name="l00138"></a>00138                         } 
     150<a name="l00140"></a><a class="code" href="classbdm_1_1Controller.html#5c5b40a9e65abc1434c8a34c9752e25d">00140</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#5c5b40a9e65abc1434c8a34c9752e25d" title="access function">_urv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>;} 
     151<a name="l00142"></a><a class="code" href="classbdm_1_1Controller.html#258f7c6435343b088ed02a304cab99b0">00142</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#258f7c6435343b088ed02a304cab99b0" title="access function">_yrv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>;} 
     152<a name="l00144"></a><a class="code" href="classbdm_1_1Controller.html#51e1fbd42ba80789f31b5bc14068f498">00144</a>                         <span class="keyword">const</span> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>&amp; <a class="code" href="classbdm_1_1Controller.html#51e1fbd42ba80789f31b5bc14068f498" title="access function">_drv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>;} 
     153<a name="l00146"></a><a class="code" href="classbdm_1_1Controller.html#2a9541449b90cb80203a17af66cf64b7">00146</a>                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#2a9541449b90cb80203a17af66cf64b7" title="register this controller with given datasource under name &amp;quot;name&amp;quot;">log_add</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;name = <span class="stringliteral">""</span> ) { } 
     154<a name="l00148"></a><a class="code" href="classbdm_1_1Controller.html#2b05de6453a4ca665c662e998c53f31c">00148</a>                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#2b05de6453a4ca665c662e998c53f31c" title="write requested values into the logger">logit</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L ) { } 
     155<a name="l00149"></a>00149                          
     156<a name="l00150"></a>00150         }; 
     157<a name="l00151"></a>00151                          
     158<a name="l00152"></a>00152 } <span class="comment">// namespace</span> 
    157159</pre></div></div> 
    158 <hr size="1"/><address style="text-align: right;"><small>Generated on Sun Sep 27 00:49:04 2009 for mixpp by&nbsp; 
     160<hr size="1"><address style="text-align: right;"><small>Generated on Wed Oct 7 17:34:42 2009 for mixpp by&nbsp; 
    159161<a href="http://www.doxygen.org/index.html"> 
    160 <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address> 
     162<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address> 
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