Changeset 723 for applications/bdmtoolbox/mex/controlloop.cpp

Timestamp:

11/15/09 23:02:02 (15 years ago)

Author:

smidl

Message:

Big commit of LQG stuff

Files:

• applications/bdmtoolbox/mex/controlloop.cpp (modified) (5 diffs)

applications/bdmtoolbox/mex/controlloop.cpp

@@ -103 +103 @@
 
         //DBG
-        Cfg.writeFile ( "closedloop.cfg" );
+        Cfg.writeFile ( "controlloop.cfg" );
 
 #else
@@ -111 +111 @@
                 fname = argv[1];
         } else {
-                fname="closedloop.cfg";
+                fname="controlloop.cfg";
         }
         UIFile Cfg ( fname );
@@ -119 +119 @@
         Array<shared_ptr<Controller> > Cs;
         UI::get ( Cs,Cfg, "controllers" );
-        int Ndat=10;
+        int Ndat=100;
         if ( Cfg.exists ( "experiment" ) ) {
                 if ( Cfg.getRoot().lookupValue ( "experiment.ndat",Ndat ) ) {
@@ -187 +187 @@
                                 Cs(i) -> adapt( Dlsc(i) ->pushdown(dt));
                                 vec ut=Cs ( i )->ctrlaction ( Dlsc(i) ->pushdown(dt) );         // update estimates
-                                Ds->write(ut, vec_1(1));
+                                Ds->write(ut, vec_1(0));
+                        } else {
+                                Ds->write(0.001*randn(Ds->_urv()._dsize()));
                         }
+                        
                         Cs ( i )->log_write ();
                 }
@@ -196 +199 @@
                 //update buffered fdat links
                 for (int i=0; i<Dls_buf.length(); i++){
-                        Dls_buf(i)->step(dt);
+                        Dls_buf(i)->store_data(dt);
                 }