Changeset 895

Timestamp:

04/08/10 16:01:03 (15 years ago)

Author:

smidl

Message:

get rid of Yrv in DS

Files:

• applications/bdmtoolbox/tutorial/userguide/frg_estim.m (modified) (2 diffs)
• applications/pmsm/pmsmDS.h (modified) (1 diff)
• library/bdm/base/bdmbase.h (modified) (2 diffs)
• library/bdm/base/datasources.cpp (modified) (3 diffs)
• library/bdm/base/datasources.h (modified) (4 diffs)
• library/bdm/mex/mex_datasource.h (modified) (5 diffs)
• library/bdm/mex/mex_logger.h (modified) (1 diff)

applications/bdmtoolbox/tutorial/userguide/frg_estim.m

@@ -11 +11 @@
 A1.rv = y;
 A1.rgr = RVtimes([y,u],[-3,-1]) ; 
-A1.log_level ='logbounds,logevidence';
+A1.log_level = 'logbounds,logevidence';
 A1.frg = 0.9;
 A1.name = 'A1';
+
 
 %%%%%% Random walk on frg - Dirichlet 
@@ -19 +20 @@
 phi_pdf.rv    = RV({'phi','1_phi'});       % 2D random walk - frg is the first element
 phi_pdf.k     = 0.01;              % width of the random walk
-phi_pdf.betac = [0.1 0.1];       % stabilizing elememnt of random walk
+phi_pdf.betac = [0.1 0.1];         % stabilizing elememnt of random walk
 
+%%%%%% Particle
+p.class = 'MarginalizedParticle';
+p.parameter_pdf = phi_pdf;         % Random walk is the parameter evolution model
+p.bm    = A1;
+
+% prior on ARX
 %%%%%% Combining estimators in Marginalized particle filter
-E.class = 'MPF';
-E.BM = A1;                         % ARX is the analytical part
-E.parameter_pdf = phi_pdf;         % Random walk is the parameter evolution model
+E.class = 'PF';
+E.particle = p;                    % ARX is the analytical part
 E.res_threshold = 1.0;             % resampling parameter
 E.n = 10;                          % number of particles
 E.prior.class = 'eDirich';         % prior on non-linear part
 E.prior.beta  = [2 1]; % 
-E.log_level ='logbounds,logevidence';
+E.log_level = 'logbounds,logevidence';
 E.name = 'MPF';
 

applications/pmsm/pmsmDS.h

@@ -39 +39 @@
     {
         Dt=125;
-        Yrv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
-                ytsize = Yrv._dsize();
-                Drv = Yrv;
+        Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
+                dtsize = Drv._dsize();
     }
     void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 )

library/bdm/base/bdmbase.h

@@ -915 +915 @@
         //! size of data
         int utsize;
-        //!size of output
-        int ytsize;
         //!Description of data returned by \c getdata().
         RV Drv;
         //!Description of data witten by by \c write().
         RV Urv; //
-        //!Description of output data
-        RV Yrv; //
 public:
         //! default constructors
-        DS() : dtsize ( 0 ), utsize ( 0 ), ytsize ( 0 ), Drv(), Urv(), Yrv() {
+        DS() : dtsize ( 0 ), utsize ( 0 ), Drv(), Urv(){
                 log_level[dt] = true;
         };
@@ -964 +960 @@
                 return Urv;
         }
-        //!access function
-        const RV& _yrv() const {
-                return Yrv;
-        }
         //! set random variables
-        virtual void set_drv ( const  RV &yrv, const RV &urv ) {
-                Yrv = yrv;
-                Drv = concat ( yrv, urv );
+        virtual void set_drv ( const  RV &drv, const RV &urv) {
+                Drv = drv;
                 Urv = urv;
         }

library/bdm/base/datasources.cpp

@@ -63 +63 @@
 
 void PdfDS::getdata ( vec &dt_out ) const {
-        bdm_assert_debug ( dt_out.length() >= utsize + ytsize, "Short output vector" );
+        bdm_assert_debug ( dt_out.length() >= dtsize, "Short output vector" );
         dt_out.set_subvector ( 0, yt );
-        dt_out.set_subvector ( ytsize, ut );
+        dt_out.set_subvector ( yt.length(), ut );
 }
 
@@ -82 +82 @@
         dt.set_subvector ( 0, yt );
         dt.set_subvector ( yt.length(), xt );
-        dt.set_subvector ( ytsize, ut );
+        dt.set_subvector ( yt.length()+xt.length(), ut );
 }
 
@@ -99 +99 @@
         DS::validate();
 
-        Yrv = concat ( OM->_rv() , IM->_rv() ); // export also true state
-        ytsize = Yrv._dsize();
+        RV Yrv = concat ( OM->_rv() , IM->_rv() ); // export also true state
+        int ytsize = Yrv._dsize();
 
         RV tmp = concat ( OM->_rvc(), IM->_rvc() ); // what i not in rvc

library/bdm/base/datasources.h

@@ -97 +97 @@
                 set_drv ( *r, RV() ); //empty urv
                 dtsize = r->_dsize();
-                ytsize = dtsize;
                 utsize = 0;
         }
@@ -219 +218 @@
                 dt =  zeros ( iepdf->dimension() );
                 dtsize = dt.length();
-                ytsize = dt.length();
                 set_drv ( iepdf->_rv(), RV() );
                 utsize = 0;
@@ -281 +279 @@
                 ipdf = UI::build<pdf> ( set, "pdf", UI::compulsory );
 
-                Yrv = ipdf->_rv();
+                RV Yrv = ipdf->_rv();
                 // get unique rvs form rvc
                 RV rgrv0 = ipdf->_rvc().remove_time();
                 // input is what in not in Yrv
                 Urv = rgrv0.subt ( Yrv );
-                set_drv ( Yrv, Urv );
+                set_drv ( concat(Yrv,Urv), Urv );
                 // connect input and output to rvc
                 ut2rgr.set_connection ( ipdf->_rvc(), Urv );
@@ -308 +306 @@
                 ut = zeros ( Urv._dsize() );
 
-                ytsize = yt.length();
                 utsize = ut.length();
-                dtsize = ytsize + utsize;
+                dtsize = yt.length() + utsize;
         }
 

library/bdm/mex/mex_datasource.h

@@ -45 +45 @@
                 rowid = linspace ( 0, Data.rows() - 1 );
                 dtsize = rowid.length();
-                ytsize = rowid.length();
                 utsize = 0;
 
@@ -87 +86 @@
         mexDS () : DS() {};
 
-        /*! \brief Create memory data source from mxArray
+        /*! \brief Data source computed by matlab function
 
         \code
@@ -94 +93 @@
                 step_name="";              // name of function to call
                 input_name="";             // name of workspace variable where inputs are written
-                yrv = {class='RV',...}  // identification of outputs
+                drv = {class='RV',...}  // identification of outputs
                 urv = {class='RV',...}   // identification of inputs
                 };
@@ -106 +105 @@
                 UI::get ( input_name, set, "input_name", UI::compulsory );
 
-                shared_ptr<RV> ry = UI::build<RV> ( set, "yrv", UI::compulsory );
+                shared_ptr<RV> rd = UI::build<RV> ( set, "drv", UI::compulsory );
                 shared_ptr<RV> ru = UI::build<RV> ( set, "urv", UI::compulsory );
 
-                ytsize = ry->_dsize();
+                dtsize = rd->_dsize();
                 utsize = ru->_dsize();
-                dtsize = ytsize + utsize;
 
-                set_drv ( *ry, *ru );
+                set_drv ( *rd, *ru );
                 validate();
         }
@@ -142 +140 @@
                 mexCallMATLAB ( 1, &tmp, 0, ( mxArray ** ) &dummy, step_name.c_str() );
                 // save its results
-                bdm_assert_debug ( ( int ) mxGetM ( tmp ) == ytsize || ( int ) mxGetN ( tmp ) == ytsize, "mexDS.step() expected return vector of length " + num2str ( dtsize ) +
+                bdm_assert_debug ( ( int ) mxGetM ( tmp ) == dtsize || ( int ) mxGetN ( tmp ) == dtsize, "mexDS.step() expected return vector of length " + num2str ( dtsize ) +
                                    "got vector " + num2str ( ( int ) mxGetM ( tmp ) ) + "x" + num2str ( ( int ) mxGetN ( tmp ) ) );
                 //write  y
                 dt.set_subvector ( 0, mxArray2vec ( tmp ) );
                 //write u
-                dt.set_subvector ( ytsize, ut );
         }
         void write ( const vec &ut0 ) {

library/bdm/mex/mex_logger.h

@@ -62 +62 @@
                         istart = 0;
                         for ( int j = 0; j < entries ( i ).length(); j++ ) { // same for as in add!!!
-                                vec_name = names ( i ) + prefix_sep() + entries ( i ).name ( j );
+                                vec_name = names ( i ) + "_" + entries ( i ).name ( j );
                                 iend = istart + entries ( i ).size ( j ) - 1;
                                 M = vectors ( i ).get_cols ( istart, iend );