Changeset 787 for library/bdm/mpdm/arx_agent.h

Timestamp:

01/14/10 21:37:57 (14 years ago)

Author:

smidl

Message:

arena experiment + numerical fixes

Files:

• library/bdm/mpdm/arx_agent.h (modified) (3 diffs)

library/bdm/mpdm/arx_agent.h

@@ -65 +65 @@
                 }
                 void adapt(const vec &glob_dt){                 
-                        dlDt.filldown(glob_dt, dt);
+                        dlDt.filldown(glob_dt, dt); 
+                        dlDt.store_data(glob_dt); // do not ever use dlDt again! 
+                        
                         lqg_arx->adapt(dt);
                         // remove old predictors
@@ -80 +82 @@
                                 merger->merge();
                                 enorm<chmat> joint_pred; 
-                                joint_pred.set_parameters(merger->mean(), merger->covariance());
+                                mat Cov=merger->covariance();
+                                if (sumsum(Cov)==0.0){
+                                        bdm_error("merging failed");
+                                }
+                                joint_pred.set_parameters(merger->mean(), Cov);
                                 joint_pred.set_rv(merger->_rv());
                                 
@@ -96 +102 @@
                         ut=lqg_arx->ctrlaction(dt);
                         dlU.filldown(ut,glob_ut);
-                        // save dat for next time
-                        dlDt.store_data(dt);
                 }
                 virtual void ds_register(const DS &ds){