Changeset 654 for applications/pmsm/pmsmDS.h

Timestamp:

10/12/09 19:38:57 (15 years ago)

Author:

smidl

Message:

PMSM compiles again

Files:

• applications/pmsm/pmsmDS.h (modified) (10 diffs)

applications/pmsm/pmsmDS.h

@@ -11 +11 @@
 */
 
-#include <stat/loggers.h>
+#include <base/loggers.h>
 #include <estim/kalman.h>
 #include "simulator_zdenek/simulator.h"
@@ -71 +71 @@
             ind++;
             // check omega profile and set dW
-            if ( ind<profileWw.length() )
+                        if ( ind <2 && profileWw.length() ==1 )
+                        {
+                                Ww=profileWw ( 0 );
+                                dW=0.0;
+                        }
+                        if ( ind<profileWw.length() )
             {
-                //linear increase
-                if ( profileWw.length() ==1 )
-                {
-                    Ww=profileWw ( 0 );
-                    dW=0.0;
-                }
-                else
-                {
                     dW = profileWw ( ind )-profileWw ( ind-1 );
                     dW *=125e-6/dt_prof;
-                }
             }
             else
@@ -167 +163 @@
     void from_setting( const Setting &root )
     {
-                UI::SettingResolver params_exp(root["params"]);
-                const Setting& params=params_exp.result;
-
+                const SettingResolver& params_l(root["params"]);
+                const Setting &params = params_l.result;
         set_parameters ( params["Rs"], params["Ls"], params["Fmag"], \
                          params["Bf"], params["p"], params["kp"], \
@@ -214 +209 @@
     {
         static vec umin(2);
-        vec u(2);
-        //assume we know state exactly:
+                vec u(2);
+                vec &mu = est->_mu();
+                //assume we know state exactly:
         vec true_state=vec(x,4); // read from pmsm
-        E.set_mu(true_state);
         mu=true_state;
 
@@ -228 +223 @@
 
         //second derivative
-        IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu);
+        IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu.get());
         if (pf)
         {
@@ -254 +249 @@
     void from_setting( const Setting &root )
     {
-        diffbifn* IM = UI::build<diffbifn>(root, "IM");
-        diffbifn* OM = UI::build<diffbifn>(root, "OM");
+        shared_ptr<diffbifn> IM = UI::build<diffbifn>(root, "IM");
+        shared_ptr<diffbifn> OM = UI::build<diffbifn>(root, "OM");
 
         //parameters
@@ -289 +284 @@
 
         //connect
-        RV* drv = UI::build<RV>(root, "drv");
+        shared_ptr<RV> drv = UI::build<RV>(root, "drv");
         set_drv(*drv);
-        RV* rv = UI::build<RV>(root, "rv");
+        shared_ptr<RV> rv = UI::build<RV>(root, "rv");
         set_rv(*rv);
     }
@@ -317 +312 @@
         true_state(4)=x[8];
 
-        E.set_mu(true_state);
+        vec &mu = est->_mu();
         mu = true_state;
         //hack for ut
@@ -334 +329 @@
     void from_setting( const Setting &root )
     {
-        diffbifn* IM = UI::build<diffbifn>(root,"IM");
-        diffbifn* OM = UI::build<diffbifn>(root,"OM");
+        shared_ptr<diffbifn> IM = UI::build<diffbifn>(root,"IM");
+                shared_ptr<diffbifn> OM = UI::build<diffbifn>(root,"OM");
 
         //statistics
@@ -367 +362 @@
 
         //connect
-        RV* drv = UI::build<RV>(root, "drv");
+                shared_ptr<RV> drv = UI::build<RV>(root, "drv");
         set_drv(*drv);
-        RV* rv = UI::build<RV>(root, "rv");
+                shared_ptr<RV> rv = UI::build<RV>(root, "rv");
         set_rv(*rv);
     }