| 41 | | |
| | 41 | TEST(arx_LQG_test){ |
| | 42 | mlnorm<fsqmat> ml; |
| | 43 | mat A="1.81, -.8189, .00468, .00438"; |
| | 44 | ml.set_parameters(A, vec_1(0), eye(0.0001)); |
| | 45 | RV yr=RV("y",1); |
| | 46 | RV ur=RV("u",1); |
| | 47 | RV rgr = yr.copy_t(-1); |
| | 48 | rgr.add(yr.copy_t(-2)); |
| | 49 | rgr.add(yr.copy_t(-2)); |
| | 50 | rgr.add(ur.copy_t(-1)); |
| | 51 | rgr.add(ur); |
| | 52 | |
| | 53 | ml.set_rv(yr); |
| | 54 | ml.set_rvc(rgr); |
| | 55 | ml.validate(); |
| | 56 | |
| | 57 | shared_ptr<StateCanonical > Stsp=new StateCanonical; |
| | 58 | Stsp->connect_mlnorm(ml); |
| | 59 | |
| | 60 | LQG L; |
| | 61 | L.set_system(Stsp); |
| | 62 | L.set_control_parameters(eye(1), eye(1), vec_1(0.0), 100); |
| | 63 | L.validate(); |
| | 64 | |
| | 65 | L.redesign(); |
| | 66 | } |
