Changeset 744 for applications/bdmtoolbox/mex

Timestamp:

11/28/09 14:38:48 (15 years ago)

Author:

smidl

Message:

Working unitsteps and controlloop + corresponding fixes

Files:

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

applications/bdmtoolbox/mex/controlloop.cpp

@@ -7 +7 @@
 digraph estimation{
         node [shape=box];
-        {rank="same"; "Data Source"; "Bayesian Model"}
-        "Data Source" -> "Bayesian Model" [label="data"];
-        "Bayesian Model" -> "Result Logger" [label="estimated\n statistics"];
+        subgraph cl0 {
+        "Data Source" -> "Controller" [label="observations"];
+        "Controller" -> "Data Source" [label="actions"];
+        }
+        {rank="same"; "Controller"; "Result Logger"}
+        "Controller" -> "Result Logger" [label="internals"];
         "Data Source" -> "Result Logger" [label="Simulated\n data"];
 }
@@ -87 +90 @@
                 if ( n_input>3 ) {
                         Cfg.addGroup ( input[3],"logger" );
-                }/*else{
-                // define logger as mexlog
-                Setting &S=Cfg.getRoot();
-                S.add("logger",Setting::TypeGroup);
-                S["logger"].add("class",Setting::TypeString);
-                S["logger"]["class"]="mexlog";
-                S["logger"].add("maxlen",Setting::TypeInt);
-                int maxlen;
-                S["experiment"].lookupValue("ndat",maxlen);
-                S["logger"]["maxlen"]=maxlen;
-        }*/
+                }
         } catch ( SettingException e ) {
                 it_error ( "error: "+string ( e.getPath() ) );
@@ -116 +109 @@
 #endif
 
+        RNG_randomize();
+        
         shared_ptr<DS> Ds = UI::build<DS> ( Cfg, "system" );
         Array<shared_ptr<Controller> > Cs;
         UI::get ( Cs,Cfg, "controllers" );
         int Ndat=100;
+        int burnin=10;
         if ( Cfg.exists ( "experiment" ) ) {
                 if ( Cfg.getRoot().lookupValue ( "experiment.ndat",Ndat ) ) {
@@ -178 +174 @@
         }
 
+        vec ut(Ds->_urv()._dsize());
         for ( int tK=0;tK<Ndat;tK++ ) {
                 Ds->getdata ( dt );                                     // read data
@@ -186 +183 @@
                                 Cs(i) -> redesign();
                                 Cs(i) -> adapt( Dlsc(i) ->pushdown(dt));
-                                vec ut=Cs ( i )->ctrlaction ( Dlsc(i) ->pushdown(dt) );         // update estimates
-                                Ds->write(ut, vec_1(0));
+                        }
+                        if (tK > burnin){
+                                vec uti=Cs ( i )->ctrlaction ( Dlsc(i) ->pushdown(dt) );                // update estimates
+                                Dlsu(i)->filldown(uti, ut);
                         } else {
-                                Ds->write(0.001*randn(Ds->_urv()._dsize()));
+                                ut = 0.1*randn(Ds->_urv()._dsize());
                         }
                         
                         Cs ( i )->log_write ();
                 }
+                Ds->write(ut);
                 
                 L->step();