| 116 | | <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">"QR in LQG unstable"</span>);} |
| 122 | | <a name="l00099"></a>00099 triu(<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>); |
| 123 | | <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); |
| 125 | | <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-&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-&gt;0">td</a>>0; <a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&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>(); |
| 130 | | <a name="l00107"></a>00107 } |
| 131 | | <a name="l00108"></a>00108 <span class="comment">/* ws=hn(1:m,m+1:2*m+n+r);</span> |
| 132 | | <a name="l00109"></a>00109 <span class="comment"> wsd=hn(1:m,1:m);</span> |
| 133 | | <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); |
| 135 | | <a name="l00112"></a>00112 } |
| 136 | | <a name="l00113"></a>00113 vec apply(<span class="keyword">const</span> vec &state, <span class="keyword">const</span> vec &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;} |
| 137 | | <a name="l00114"></a>00114 } ; |
| 138 | | <a name="l00115"></a>00115 |
| 139 | | <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="l00120"></a>00120 <span class="keyword">protected</span>: |
| 141 | | <a name="l00122"></a><a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18">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#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>; |
| 142 | | <a name="l00124"></a><a class="code" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37">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#a357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>; |
| 143 | | <a name="l00126"></a><a class="code" href="classbdm_1_1Controller.html#a10a2a88a4c275ead6aa2887a3b826b19">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#a10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>; |
| 144 | | <a name="l00128"></a><a class="code" href="classbdm_1_1Controller.html#a8574445175a07f536fd3db007e1eac41">00128</a> ivec <a class="code" href="classbdm_1_1Controller.html#a8574445175a07f536fd3db007e1eac41" title="vector of logger IDs">LIDs</a>; |
| 145 | | <a name="l00129"></a>00129 <span class="keyword">public</span>: |
| 146 | | <a name="l00131"></a><a class="code" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774">00131</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 &data){}; |
| 147 | | <a name="l00133"></a><a class="code" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180">00133</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 &data){<span class="keywordflow">return</span> vec(0);} |
| 148 | | <a name="l00134"></a>00134 |
| 149 | | <a name="l00135"></a><a class="code" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77">00135</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 &<span class="keyword">set</span>){ |
| 150 | | <a name="l00136"></a>00136 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"yrv"</span>,UI::optional); |
| 151 | | <a name="l00137"></a>00137 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"urv"</span>,UI::optional); |
| 152 | | <a name="l00138"></a>00138 } |
| 153 | | <a name="l00140"></a><a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d">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>& <a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d" title="access function">_urv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>;} |
| 154 | | <a name="l00142"></a><a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0">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>& <a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0" title="access function">_yrv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>;} |
| 155 | | <a name="l00144"></a><a class="code" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498">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>& <a class="code" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498" title="access function">_drv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>;} |
| 156 | | <a name="l00146"></a><a class="code" href="classbdm_1_1Controller.html#a2a9541449b90cb80203a17af66cf64b7">00146</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a2a9541449b90cb80203a17af66cf64b7" title="register this controller with given datasource under name &quot;name&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> &L, <span class="keyword">const</span> <span class="keywordtype">string</span> &name = <span class="stringliteral">""</span> ) { } |
| 157 | | <a name="l00148"></a><a class="code" href="classbdm_1_1Controller.html#a2b05de6453a4ca665c662e998c53f31c">00148</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a2b05de6453a4ca665c662e998c53f31c" 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> &L ) { } |
| 158 | | <a name="l00149"></a>00149 |
| 159 | | <a name="l00150"></a>00150 }; |
| | 116 | <a name="l00092"></a>00092 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#a96c8fb67798ccd783467fcb607296954" title="validation procedure">validate</a>(); |
| | 117 | <a name="l00094"></a><a class="code" href="classbdm_1_1LQG.html#a5016aebbb654a0e3d653b8485e0ea86c">00094</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="l00096"></a><a class="code" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805">00096</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="l00097"></a>00097 <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="l00098"></a>00098 <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="l00099"></a>00099 <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">"QR in LQG unstable"</span>);} |
| | 122 | <a name="l00100"></a>00100 triu(<a class="code" href="classbdm_1_1LQG.html#a13eb495eb5e3c3477e2ebaa4640a642e" title="post qr matrix">post_qr</a>); |
| | 123 | <a name="l00101"></a>00101 <span class="comment">// hn(m+1:2*m+n+r,m+1:2*m+n+r);</span> |
| | 124 | <a name="l00102"></a>00102 <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); |
| | 125 | <a name="l00103"></a>00103 }; |
| | 126 | <a name="l00104"></a><a class="code" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8">00104</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG.html#ae8df589bbdbdd40515f837c9c9560ed8" title="Redesign control strategy.">redesign</a>(){ |
| | 127 | <a name="l00105"></a>00105 <span class="keywordflow">for</span>(<a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&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-&gt;0">td</a>>0; <a class="code" href="classbdm_1_1LQG.html#a6c9fa6d9bb0be47ac5ed9183eb38562e" title="time of the design step - from horizon-&gt;0">td</a>--){ |
| | 128 | <a name="l00106"></a>00106 <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="l00107"></a>00107 <a class="code" href="classbdm_1_1LQG.html#addc5444b092fdb36239f83ab1ae85805" title="redesign one step of the">ricatti_step</a>(); |
| | 130 | <a name="l00108"></a>00108 } |
| | 131 | <a name="l00109"></a>00109 <span class="comment">/* ws=hn(1:m,m+1:2*m+n+r);</span> |
| | 132 | <a name="l00110"></a>00110 <span class="comment"> wsd=hn(1:m,1:m);</span> |
| | 133 | <a name="l00111"></a>00111 <span class="comment"> Lklq=-inv(wsd)*ws;*/</span> |
| | 134 | <a name="l00112"></a>00112 <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); |
| | 135 | <a name="l00113"></a>00113 } |
| | 136 | <a name="l00115"></a><a class="code" href="classbdm_1_1LQG.html#abd673ed2fee4289c212e03df084e8af5">00115</a> vec <a class="code" href="classbdm_1_1LQG.html#abd673ed2fee4289c212e03df084e8af5" title="compute control action">apply</a>(<span class="keyword">const</span> vec &state, <span class="keyword">const</span> vec &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;} |
| | 137 | <a name="l00116"></a>00116 } ; |
| | 138 | <a name="l00117"></a>00117 |
| | 139 | <a name="l00121"></a><a class="code" href="classbdm_1_1Controller.html">00121</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="l00122"></a>00122 <span class="keyword">protected</span>: |
| | 141 | <a name="l00124"></a><a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18">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#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>; |
| | 142 | <a name="l00126"></a><a class="code" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37">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#a357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>; |
| | 143 | <a name="l00128"></a><a class="code" href="classbdm_1_1Controller.html#a10a2a88a4c275ead6aa2887a3b826b19">00128</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#a10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>; |
| | 144 | <a name="l00130"></a><a class="code" href="classbdm_1_1Controller.html#a8574445175a07f536fd3db007e1eac41">00130</a> ivec <a class="code" href="classbdm_1_1Controller.html#a8574445175a07f536fd3db007e1eac41" title="vector of logger IDs">LIDs</a>; |
| | 145 | <a name="l00131"></a>00131 <span class="keyword">public</span>: |
| | 146 | <a name="l00133"></a><a class="code" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774">00133</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 &data){}; |
| | 147 | <a name="l00135"></a><a class="code" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180">00135</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 &data){<span class="keywordflow">return</span> vec(0);} |
| | 148 | <a name="l00136"></a>00136 |
| | 149 | <a name="l00137"></a><a class="code" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77">00137</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 &<span class="keyword">set</span>){ |
| | 150 | <a name="l00138"></a>00138 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"yrv"</span>,UI::optional); |
| | 151 | <a name="l00139"></a>00139 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(<a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>,<span class="keyword">set</span>,<span class="stringliteral">"urv"</span>,UI::optional); |
| | 152 | <a name="l00140"></a>00140 } |
| | 153 | <a name="l00142"></a><a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d">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>& <a class="code" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d" title="access function">_urv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>;} |
| | 154 | <a name="l00144"></a><a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0">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>& <a class="code" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0" title="access function">_yrv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>;} |
| | 155 | <a name="l00146"></a><a class="code" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498">00146</a> <span class="keyword">const</span> <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#a51e1fbd42ba80789f31b5bc14068f498" title="access function">_drv</a>() {<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1Controller.html#a10a2a88a4c275ead6aa2887a3b826b19" title="description of data needed for ctrlaction , required for automatic connection to...">drv</a>;} |
| | 156 | <a name="l00148"></a><a class="code" href="classbdm_1_1Controller.html#a2a9541449b90cb80203a17af66cf64b7">00148</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a2a9541449b90cb80203a17af66cf64b7" title="register this controller with given datasource under name &quot;name&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> &L, <span class="keyword">const</span> <span class="keywordtype">string</span> &name = <span class="stringliteral">""</span> ) { } |
| | 157 | <a name="l00150"></a><a class="code" href="classbdm_1_1Controller.html#a2b05de6453a4ca665c662e998c53f31c">00150</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Controller.html#a2b05de6453a4ca665c662e998c53f31c" 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> &L ) { } |
