static int parameters_endfp(FORMPTR fmp)
{
int status;
char err_msg[80];
char variation_onoff;
WINDOWPTR wnp;
if (error_flag)
goto END;
wnp = wn_def(vs_rowq()-1,0,1,vs_colq(),LWAIT,BDR_NULLP);
wn_up(wnp);
v_st(" Updating compass parameters, please wait...",wnp);
status = 0;
if ((fm_nextitem(fmp) == AC_QUIT) || !fm_isaltered(fmp))
goto ERROR; /* avoid writing if nothing changed */
if (c100_in_superuser_mode()) {
status = c100_set_who(parameters.serial_nbr,parameters.sftwr_rev,
parameters.hrdwr_rev,parameters.unit_type,
parameters.cal_date);
if (status != 0) {
strcpy(err_msg,"Unable to update serial number.");
goto ERROR;
} /* if */
} /* if */
variation_onoff = (parameters.true_mag == TRUE_HEADING) ? 't' : 'm';
status = c100_set_variation_onoff(variation_onoff);
if (status != 0) {
strcpy(err_msg,"Unable to update variation flag.");
goto ERROR;
} /* if */
status = c100_set_variation(parameters.variation);
if (status != 0) {
strcpy(err_msg,"Unable to update variation.");
goto ERROR;
} /* if */
status = c100_set_a_offset(parameters.a_offset);
if (status != 0) {
strcpy(err_msg,"Unable to update A offset.");
goto ERROR;
} /* if */
//--------
// setting the message rate to 1 before setting the baud rate will prevent
// problems caused by trying to set conflicting values
//--------
status = c100_set_msg_rate(1);
if (status != 0) {
strcpy(err_msg,"Unable to update message rate.");
goto ERROR;
} /* if */
status = c100_set_baud(parameters.baud_rate);
if (status != 0) {
strcpy(err_msg,"Unable to update baud rate.");
goto ERROR;
} /* if */
status = c100_set_msg_rate(parameters.msg_rate);
if (status != 0) {
strcpy(err_msg,"Unable to update message rate.");
goto ERROR;
} /* if */
status = c100_set_msg_type(parameters.msg_type);
if (status != 0) {
strcpy(err_msg,"Unable to update message type.");
goto ERROR;
} /* if */
status = c100_set_digital_type(parameters.digital_type);
if (status != 0) {
strcpy(err_msg,"Unable to update digital output type.");
goto ERROR;
} /* if */
status = c100_set_digital_fmt(parameters.digital_fmt);
if (status != 0) {
strcpy(err_msg,"Unable to update digital output format.");
goto ERROR;
} /* if */
status = c100_set_analog_fmt(parameters.analog_fmt);
if (status != 0) {
strcpy(err_msg,"Unable to update analog output format.");
goto ERROR;
} /* if */
status = c100_set_damp_type(parameters.damping_type);
if (status != 0) {
strcpy(err_msg,"Unable to update damping type.");
goto ERROR;
} /* if */
status = c100_set_damp_rate(parameters.damping_rate);
if (status != 0) {
strcpy(err_msg,"Unable to update damping rate.");
goto ERROR;
} /* if */
status = c100_set_msg_units(parameters.msg_units);
if (status != 0) {
strcpy(err_msg,"Unable to update analog output format.");
goto ERROR;
} /* if */
if (parameters.powerup_mode == SENDING) {
status = c100_send_data();
if (status != 0) {
strcpy(err_msg,"Unable to turn data messages on.");
} /* if */
} /* if */
c100_zap(); /* reboot to effect changes */
ERROR:
if (parameters.powerup_mode == SENDING)
c100_send_data();
wn_dn(wnp);
wn_free(wnp);
if (status != 0) { /* was there an error? */
strcat(err_msg," ");
strcat(err_msg,c100_error_name(status));
msg_window(err_msg);
} /* if */
END:
c100_close_channel();
return(TRUE);
} /* parameters_endfp() */
int main(int argc, char **argv)
{
try {
const unsigned int d = 2;
const unsigned int pmin = 1;
const unsigned int pmax = 10;
const unsigned int np = pmax-pmin+1;
bool use_pce_quad_points = false;
bool normalize = false;
bool sparse_grid = true;
#ifndef HAVE_STOKHOS_DAKOTA
sparse_grid = false;
#endif
Teuchos::Array<double> mean(np), mean_st(np), std_dev(np), std_dev_st(np);
Teuchos::Array<double> pt(np), pt_st(np);
Teuchos::Array< Teuchos::RCP<const Stokhos::OneDOrthogPolyBasis<int,double> > > bases(d);
Teuchos::Array<double> eval_pt(d, 0.5);
double pt_true;
// Loop over orders
unsigned int n = 0;
for (unsigned int p=pmin; p<=pmax; p++) {
std::cout << "p = " << p << std::endl;
// Create product basis
for (unsigned int i=0; i<d; i++)
bases[i] = Teuchos::rcp(new basis_type(p));
Teuchos::RCP<const Stokhos::CompletePolynomialBasis<int,double> > basis =
Teuchos::rcp(new Stokhos::CompletePolynomialBasis<int,double>(bases));
// Create approximation
Stokhos::OrthogPolyApprox<int,double> x(basis), u(basis), v(basis),
w(basis), w2(basis);
for (unsigned int i=0; i<d; i++) {
x.term(i, 1) = 1.0;
}
double x_pt = x.evaluate(eval_pt);
pt_true = std::sin(x_pt)/(1.0 + exp(x_pt));
// Quadrature
Teuchos::RCP<const Stokhos::Quadrature<int,double> > quad;
#ifdef HAVE_STOKHOS_DAKOTA
if (sparse_grid)
quad =
Teuchos::rcp(new Stokhos::SparseGridQuadrature<int,double>(basis, p));
#endif
if (!sparse_grid)
quad =
Teuchos::rcp(new Stokhos::TensorProductQuadrature<int,double>(basis));
// Triple product tensor
Teuchos::RCP<Stokhos::Sparse3Tensor<int,double> > Cijk =
basis->computeTripleProductTensor();
// Quadrature expansion
Stokhos::QuadOrthogPolyExpansion<int,double> quad_exp(basis, Cijk, quad);
// Compute PCE via quadrature expansion
quad_exp.sin(u,x);
quad_exp.exp(v,x);
quad_exp.plusEqual(v, 1.0);
quad_exp.divide(w,u,v);
// Compute Stieltjes basis
Teuchos::Array< Teuchos::RCP<const Stokhos::OneDOrthogPolyBasis<int,double> > > st_bases(2);
Teuchos::RCP<sin_func> sf = Teuchos::rcp(new sin_func(x));
Teuchos::RCP<exp_func> ef = Teuchos::rcp(new exp_func(x));
st_bases[0] =
Teuchos::rcp(new Stokhos::StieltjesBasis<int,double,sin_func>(
p, sf, quad, use_pce_quad_points, normalize));
st_bases[1] =
Teuchos::rcp(new Stokhos::StieltjesBasis<int,double,exp_func>(
p, ef, quad, use_pce_quad_points, normalize));
Teuchos::RCP<const Stokhos::CompletePolynomialBasis<int,double> >
st_basis =
Teuchos::rcp(new Stokhos::CompletePolynomialBasis<int,double>(st_bases));
//std::cout << *st_basis << std::endl;
Stokhos::OrthogPolyApprox<int,double> u_st(st_basis), v_st(st_basis),
w_st(st_basis);
u_st.term(0, 0) = u.mean();
u_st.term(0, 1) = 1.0;
v_st.term(0, 0) = v.mean();
v_st.term(1, 1) = 1.0;
// Triple product tensor
Teuchos::RCP<Stokhos::Sparse3Tensor<int,double> > st_Cijk =
st_basis->computeTripleProductTensor();
// Tensor product quadrature
Teuchos::RCP<const Stokhos::Quadrature<int,double> > st_quad;
if (!use_pce_quad_points) {
#ifdef HAVE_STOKHOS_DAKOTA
if (sparse_grid)
st_quad = Teuchos::rcp(new Stokhos::SparseGridQuadrature<int,double>(st_basis, p));
#endif
if (!sparse_grid)
st_quad = Teuchos::rcp(new Stokhos::TensorProductQuadrature<int,double>(st_basis));
}
else {
Teuchos::Array<double> st_points_0;
Teuchos::Array<double> st_weights_0;
Teuchos::Array< Teuchos::Array<double> > st_values_0;
st_bases[0]->getQuadPoints(p+1, st_points_0, st_weights_0, st_values_0);
Teuchos::Array<double> st_points_1;
Teuchos::Array<double> st_weights_1;
Teuchos::Array< Teuchos::Array<double> > st_values_1;
st_bases[1]->getQuadPoints(p+1, st_points_1, st_weights_1, st_values_1);
Teuchos::RCP< Teuchos::Array< Teuchos::Array<double> > > st_points =
Teuchos::rcp(new Teuchos::Array< Teuchos::Array<double> >(st_points_0.size()));
for (int i=0; i<st_points_0.size(); i++) {
(*st_points)[i].resize(2);
(*st_points)[i][0] = st_points_0[i];
(*st_points)[i][1] = st_points_1[i];
}
Teuchos::RCP< Teuchos::Array<double> > st_weights =
Teuchos::rcp(new Teuchos::Array<double>(st_weights_0));
Teuchos::RCP< const Stokhos::OrthogPolyBasis<int,double> > st_b =
st_basis;
st_quad =
Teuchos::rcp(new Stokhos::UserDefinedQuadrature<int,double>(st_b,
st_points,
st_weights));
}
// Quadrature expansion
Stokhos::QuadOrthogPolyExpansion<int,double> st_quad_exp(st_basis,
st_Cijk,
st_quad);
// Compute w_st = u_st*v_st in Stieltjes basis
st_quad_exp.divide(w_st, u_st, v_st);
// Project w_st back to original basis
pce_quad_func st_func(w_st, *st_basis);
quad_exp.binary_op(st_func, w2, u, v);
// std::cout.precision(12);
// std::cout << w;
// std::cout << w2;
// std::cout << w_st;
mean[n] = w.mean();
mean_st[n] = w2.mean();
std_dev[n] = w.standard_deviation();
std_dev_st[n] = w2.standard_deviation();
pt[n] = w.evaluate(eval_pt);
pt_st[n] = w2.evaluate(eval_pt);
n++;
}
n = 0;
int wi=10;
std::cout << "Statistical error:" << std::endl;
std::cout << "p "
<< std::setw(wi) << "mean" << " "
<< std::setw(wi) << "mean_st" << " "
<< std::setw(wi) << "std_dev" << " "
<< std::setw(wi) << "std_dev_st" << " "
<< std::setw(wi) << "point" << " "
<< std::setw(wi) << "point_st" << std::endl;
for (unsigned int p=pmin; p<pmax; p++) {
std::cout.precision(3);
std::cout.setf(std::ios::scientific);
std::cout << p << " "
<< std::setw(wi) << rel_err(mean[n], mean[np-1]) << " "
<< std::setw(wi) << rel_err(mean_st[n], mean[np-1]) << " "
<< std::setw(wi) << rel_err(std_dev[n], std_dev[np-1]) << " "
<< std::setw(wi) << rel_err(std_dev_st[n], std_dev[np-1])
<< " "
<< std::setw(wi) << rel_err(pt[n], pt_true) << " "
<< std::setw(wi) << rel_err(pt_st[n], pt_true)
<< std::endl;
n++;
}
}
catch (std::exception& e) {
std::cout << e.what() << std::endl;
}
}
static int parameters_beginfp(FORMPTR fmp)
{
int i,status,on_off;
char variation_onoff;
char err_msg[80];
DFIELDPTR fldp;
WINDOWPTR wnp;
error_flag = TRUE;
memset(¶meters,0,sizeof(parameters));
for (i = 0; i <= i_maxnum(fmp); i++) {
fldp = i_numptr(i,fmp);
fld_blank(fldp,fmp);
} /* for */
wnp = wn_def(vs_rowq()-1,0,1,vs_colq(),LWAIT,BDR_NULLP);
wn_up(wnp);
v_st(" Reading parameters from compass, please wait...",wnp);
status = c100_open_channel(dflt_port,dflt_baud);
if (status != 0) {
strcpy(err_msg,"Unable to talk to compass.");
goto ERROR;
} /* if */
c100_zap(); /* re-boot compass to force any changes
made in terminal mode into effect */
status = c100_halt_data();
if (status != 0) {
strcpy(err_msg,"Unable to halt data.");
goto ERROR;
} /* if */
status = c100_get_who(parameters.serial_nbr,¶meters.sftwr_rev,
¶meters.hrdwr_rev,parameters.unit_type,
parameters.cal_date);
if (status != 0) {
strcpy(err_msg,"Unable to read serial number.");
goto ERROR;
} /* if */
status = c100_get_variation_onoff(&variation_onoff);
if (status != 0) {
strcpy(err_msg,"Unable to read variation flag.");
goto ERROR;
} /* if */
parameters.true_mag = (variation_onoff == 't') ? TRUE_HEADING : MAG_HEADING;
status = c100_get_variation(¶meters.variation);
if (status != 0) {
strcpy(err_msg,"Unable to read variation.");
goto ERROR;
} /* if */
status = c100_get_a_offset(¶meters.a_offset);
if (status != 0) {
strcpy(err_msg,"Unable to read A offset.");
goto ERROR;
} /* if */
status = c100_get_powerup_mode(¶meters.powerup_mode);
if (status != 0) {
strcpy(err_msg,"Unable to read power-up mode.");
goto ERROR;
} /* if */
status = c100_get_baud(¶meters.baud_rate);
if (status != 0) {
strcpy(err_msg,"Unable to read baud rate.");
goto ERROR;
} /* if */
status = c100_get_msg_rate(¶meters.msg_rate);
if (status != 0) {
strcpy(err_msg,"Unable to read message rate.");
goto ERROR;
} /* if */
status = c100_get_msg_type(¶meters.msg_type);
if (status != 0) {
strcpy(err_msg,"Unable to read message type.");
goto ERROR;
} /* if */
status = c100_get_damp_type(¶meters.damping_type);
if (status != 0) {
strcpy(err_msg,"Unable to read damping type.");
goto ERROR;
} /* if */
status = c100_get_damp_rate(¶meters.damping_rate);
if (status != 0) {
strcpy(err_msg,"Unable to read damping rate.");
goto ERROR;
} /* if */
status = c100_get_digital_type(¶meters.digital_type);
if (status != 0) {
strcpy(err_msg,"Unable to read digital output type.");
goto ERROR;
} /* if */
status = c100_get_digital_fmt(¶meters.digital_fmt);
if (status != 0) {
strcpy(err_msg,"Unable to read digital output format.");
goto ERROR;
} /* if */
status = c100_get_analog_fmt(¶meters.analog_fmt);
if (status != 0) {
strcpy(err_msg,"Unable to read analog output format.");
goto ERROR;
} /* if */
status = c100_get_msg_units(¶meters.msg_units);
if (status != 0) {
strcpy(err_msg,"Unable to read analog output format.");
goto ERROR;
} /* if */
/*--- if in SUPERUSER mode, allow access to certain fields ---*/
on_off = (c100_in_superuser_mode() ? OFF : ON);
fldp = i_namptr("serial_nbr",fmp);
sf_opt(SKIP,on_off,fldp);
fldp = i_namptr("unit_type",fmp);
sf_opt(SKIP,on_off,fldp);
fldp = i_namptr("cal_date",fmp);
sf_opt(SKIP,on_off,fldp);
fldp = i_namptr("hardware_rev",fmp);
sf_opt(SKIP,on_off,fldp);
fldp = i_namptr("software_rev",fmp);
sf_opt(SKIP,on_off,fldp);
error_flag = FALSE;
ERROR:
wn_dn(wnp);
wn_free(wnp);
if (status != 0) { /* was there an error? */
strcat(err_msg," ");
strcat(err_msg,c100_error_name(status));
msg_window(err_msg);
sfm_nextitem(AC_EXIT,fmp);
} else {
fm_updflds(fmp);
} /* if */
return(TRUE);
} /* parameters_beginfp() */
int eight_point_cal(FORMPTR fmp)
{
WINDOWPTR wnp;
int status,done;
int score,count,environment;
int space_pressed;
double heading;
char cal_msg[81];
char serial_nbr[8],unit_type[5],cal_date[9];
char hardware_rev,software_rev;
latt_rpl(L_BLINK,NORMAL|BLINK,BLUE|BLINK,WHITE,LATT_SYS);
latt_rpl(L_ERROR,REVERSE, RED|BLINK, WHITE,LATT_SYS);
wnp = wn_def(CENTER_WN,CENTER_WN,12,60,LREVERSE,BDR_DLNP);
sw_shad(TRANSPARENT,LSHADOW,BOTTOMRIGHT,wnp);
sw_updnfp(wn_expset,wn_expunset,wnp);
wn_up(wnp);
status = c100_open_channel(dflt_port,dflt_baud);
if (status != 0) {
v_printf(wnp,"Error: unable to open compass channel - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_halt_data();
if (status != 0) {
v_printf(wnp,"Error: unable to halt data messages - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_get_who(serial_nbr,&software_rev,&hardware_rev,
unit_type,cal_date);
if (status != 0) {
v_printf(wnp,"Error: unable to read software revision level. %s",
c100_error_name(status));
goto END;
} /* if */
/*--- Start 8-point Calibration --*/
sw_title("[Press SPACE when done...]",L_BLINK,BOTTOMCENTER,wnp);
v_bdr(BDR_DLNP,wnp);
v_st("Eight-Point Calibration started!\n",wnp);
done = FALSE;
do {
status = c100_cal_mode(FORCED_EIGHT_POINT_CAL,&heading,cal_msg);
switch (status) {
case OK:
v_printf(wnp,"\nPosition compass to ñ%.0fø...",heading);
break;
case DONE:
v_st("\n\n8-point calibration complete!",wnp);
if (dflt_baud <= 1200)
delay(3000);
if (software_rev >= 'C') {
status = c100_get_cal_score(LONG_SCORE,&score,&count,
&environment);
if (status != 0) {
v_printf(wnp,"\nError: unable to read cal score - %s",
c100_error_name(status));
} else {
v_printf(wnp,"\nCal score = %d, environment = %d, "
"count = %d.",score,environment,count);
if (environment < 5)
v_st("\nBad magnetic environment. Consider re-"
"locating and re-calibrating the compass.",wnp);
} /* if */
} else {
status = c100_get_cal_score(SHORT_SCORE,&score,&count,NULL);
if (status != 0) {
v_printf(wnp,"\nError: unable to read cal score - %s",
c100_error_name(status));
} else {
v_printf(wnp,"\nCal score = %d, count = %d.",
score,count);
} /* if */
} /* if */
if (score < 7)
v_statt("\nThis calibration may NOT be accurate.",
L_ERROR,wnp);
done = TRUE;
break;
case MSG_NAKKED:
v_printf(wnp,"\n\nError: %s",cal_msg);
if (software_rev < 'C')
c100_zap();
else
c100_cal_mode(ABORT_CAL,NULL,NULL);
done = TRUE;
break;
default:
v_printf(wnp,"\n\nError: unable to complete calibration - %s",
c100_error_name(status));
if (software_rev < 'C')
c100_zap();
else
c100_cal_mode(ABORT_CAL,NULL,NULL);
done = TRUE;
break;
} /* switch */
if (!done) {
space_pressed = FALSE;
do {
switch (ki()) {
case KEY_ESC:
if (continue_abort("ESC pressed!") == ABORT) {
if (software_rev < 'C')
c100_zap();
else
c100_cal_mode(ABORT_CAL,NULL,NULL);
v_st("\n8-point calibration aborted by user!",wnp);
goto END;
} /* if */
break;
case KEY_SPACE:
space_pressed = TRUE;
break;
default:
break;
} /* switch */
} while (!space_pressed);
} /* if */
} while (!done);
END:
// if (c100_mode == SENDING) {
// c100_send_data();
// } /* if */
sw_title("[Press any key...]",L_BLINK,BOTTOMCENTER,wnp);
v_bdr(BDR_DLNP,wnp);
beep_vv(BPMEDIUM,BPLOW);
beep_vv(BPMEDIUM,BPMIDDLE);
beep_vv(BPMEDIUM,BPHIGH);
flush_keybuf();
ki();
c100_close_channel();
wn_dn(wnp);
wn_free(wnp);
return(SAMELEVEL);
} /* eight_point_cal() */
int circular_cal(FORMPTR fmp)
{
WINDOWPTR wnp;
int status,done;
int score,count,environment;
int row,col;
int state;
char cal_msg[81];
char serial_nbr[8],unit_type[5],cal_date[9];
char hardware_rev,software_rev;
latt_rpl(L_BLINK,NORMAL|BLINK,BLUE|BLINK,WHITE,LATT_SYS);
latt_rpl(L_ERROR,REVERSE, RED|BLINK, WHITE,LATT_SYS);
wnp = wn_def(CENTER_WN,CENTER_WN,12,60,LREVERSE,BDR_DLNP);
sw_shad(TRANSPARENT,LSHADOW,BOTTOMRIGHT,wnp);
sw_updnfp(wn_expset,wn_expunset,wnp);
wn_up(wnp);
status = c100_open_channel(dflt_port,dflt_baud);
if (status != 0) {
v_printf(wnp,"Error: unable to open compass channel - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_halt_data();
if (status != 0) {
v_printf(wnp,"Error: unable to halt data messages - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_get_who(serial_nbr,&software_rev,&hardware_rev,
unit_type,cal_date);
if (status != 0) {
v_printf(wnp,"Error: unable to read software revision level. %s",
c100_error_name(status));
goto END;
} /* if */
if (software_rev < 'C') {
v_st("\nCircular Cal requires software revision C or higher.",wnp);
v_printf(wnp,"\nThis C100 has rev %c software.",software_rev);
v_st("\n\nCalibration aborted.",wnp);
goto END;
} /* if */
//-----------
// Start Circular Calibration
//-----------
status = c100_cal_mode(CIRCULAR_CAL,NULL,cal_msg);
if (status != 0) {
v_printf(wnp,"Error: unable to start circular cal. %s.",
c100_error_name(status));
goto END;
} /* if */
v_st("Circular calibration started.\n\n",wnp);
v_st("Turn compass SLOWLY in a circle...",wnp);
row = wnp->r;
col = wnp->c;
v_statt("Collecting",L_BLINK,wnp);
csr_mvwn(row,col,wnp);
state = COLLECTING;
done = FALSE;
do {
if (ki_chk()) {
if (ki() == KEY_ESC) {
if (continue_abort("ESC pressed!") == ABORT) {
v_st("ABORTED ",wnp);
c100_cal_mode(ABORT_CAL,NULL,NULL);
v_st("\nCircular calibration aborted by user!",wnp);
goto END;
} /* if */
} /* if */
} /* if */
status = c100_check_for_ack(cal_msg);
switch (status) {
case ACK_RECEIVED:
if (state == COLLECTING) {
state = CALCULATING;
v_statt("Calculating",L_BLINK,wnp);
csr_mvwn(row,col,wnp);
} else {
v_st("Finished ",wnp);
v_st("\n\nCircular calibration complete!",wnp);
if (software_rev >= 'C') {
if (dflt_baud <= 1200)
delay(3000);
status = c100_get_cal_score(LONG_SCORE,&score,&count,
&environment);
if (status != 0) {
v_printf(wnp,"\nError: unable to read cal score - %s",
c100_error_name(status));
} else {
v_printf(wnp,"\nCal score = %d, environment = %d, "
"count = %d.",score,environment,count);
if (environment < 5)
v_st("\nBad magnetic environment. Consider re-"
"locating and re-calibrating the compass.",wnp);
} /* if */
} else {
status = c100_get_cal_score(SHORT_SCORE,&score,&count,NULL);
if (status != 0) {
v_printf(wnp,"\nError: unable to read cal score - %s",
c100_error_name(status));
} else {
v_printf(wnp,"\nCal score = %d, count = %d.",
score,count);
} /* if */
} /* if */
if (score < 7)
v_statt("\nThis calibration may NOT be accurate!",
L_ERROR,wnp);
done = TRUE;
} /* if */
break;
case NAK_RECEIVED:
v_st("ABORTED ",wnp);
v_printf(wnp,"\nError: unable to complete calibration - %s",
cal_msg);
c100_cal_mode(ABORT_CAL,NULL,NULL);
done = TRUE;
break;
default:
break;
} /* switch */
} while (!done);
END:
if (c100_mode == SENDING) {
c100_send_data();
} /* if */
sw_title("[Press any key...]",L_BLINK,BOTTOMCENTER,wnp);
v_bdr(BDR_DLNP,wnp);
beep_vv(BPMEDIUM,BPLOW);
beep_vv(BPMEDIUM,BPMIDDLE);
beep_vv(BPMEDIUM,BPHIGH);
flush_keybuf();
ki();
c100_close_channel();
wn_dn(wnp);
wn_free(wnp);
return(SAMELEVEL);
} /* circular_cal() */
/*----------------------------------------------------------------------------*/
int three_point_cal(FORMPTR fmp)
{
WINDOWPTR wnp;
DFORMPTR dfmp;
DFIELDPTR fldp;
int status,done;
int score,count;
double heading;
char cal_msg[81];
char serial_nbr[8],unit_type[5],cal_date[9];
char hardware_rev,software_rev;
latt_rpl(L_BLINK,NORMAL|BLINK,BLUE|BLINK,WHITE,LATT_SYS);
latt_rpl(L_ERROR,REVERSE, RED|BLINK, WHITE,LATT_SYS);
wnp = wn_def(CENTER_WN,CENTER_WN,12,60,LREVERSE,BDR_DLNP);
sw_shad(TRANSPARENT,LSHADOW,BOTTOMRIGHT,wnp);
sw_updnfp(wn_expset,wn_expunset,wnp);
wn_up(wnp);
dfmp = fm_def(12,CENTER_WN,3,25,LNORMAL,BDR_DLNP);
sw_shad(TRANSPARENT,LSHADOW,BOTTOMRIGHT,dfmp->wnp);
sw_updnfp(wn_expset,wn_expunset,dfmp->wnp);
fldp = fld_def(0,1,"Actual Heading: ",FADJACENT,"###@#",
F_DOUBLE,&heading,dfmp);
sf_msg("Enter actual compass heading and press ENTER.",fldp);
status = c100_open_channel(dflt_port,dflt_baud);
if (status != 0) {
v_printf(wnp,"Error: unable to open compass channel - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_halt_data();
if (status != 0) {
v_printf(wnp,"Error: unable to halt data messages - %s",
c100_error_name(status));
goto END;
} /* if */
status = c100_get_who(serial_nbr,&software_rev,&hardware_rev,
unit_type,cal_date);
if (status != 0) {
v_printf(wnp,"Error: unable to read software revision level. %s",
c100_error_name(status));
goto END;
} /* if */
if (software_rev < 'C') {
v_st("\nThree Point Cal requires software revision C or higher.",wnp);
v_printf(wnp,"\nThis C100 has rev %c software.",software_rev);
v_st("\n\nCalibration aborted.",wnp);
goto END;
} /* if */
v_st("Three-Point Calibration started.\n",wnp);
done = FALSE;
heading = 0.0;
while (!done) {
status = c100_cal_mode(THREE_POINT_CAL,&heading,cal_msg);
switch (status) {
case OK:
v_printf(wnp,"\nPosition compass to about %.0fø and enter actual"
" heading.",heading);
if (fm_proc(0,dfmp) != AC_EXIT) {
c100_cal_mode(ABORT_CAL,NULL,NULL);
v_st("\n\nCalibration aborted by user.",wnp);
done = TRUE;
} /* if */
break;
case DONE:
v_st("\n\nThree-Point calibration complete!",wnp);
status = c100_get_cal_score(SHORT_SCORE,&score,&count,NULL);
if (status != 0)
v_printf(wnp,"\nError: unable to read cal score - %s",
c100_error_name(status));
else
v_printf(wnp,"\nCal score = %d, count = %d.",
score,count);
done = TRUE;
break;
case MSG_NAKKED:
v_printf(wnp,"\n\nError: %s",cal_msg);
c100_cal_mode(ABORT_CAL,NULL,NULL);
done = TRUE;
break;
default:
v_printf(wnp,"\n\nError: unable to complete calibration - %s",
c100_error_name(status));
c100_cal_mode(ABORT_CAL,NULL,NULL);
done = TRUE;
break;
} /* switch */
} /* while */
END:
if (c100_mode == SENDING) {
c100_send_data();
} /* if */
sw_title("[Press any key...]",L_BLINK,BOTTOMCENTER,wnp);
v_bdr(BDR_DLNP,wnp);
beep_vv(BPMEDIUM,BPLOW);
beep_vv(BPMEDIUM,BPMIDDLE);
beep_vv(BPMEDIUM,BPHIGH);
flush_keybuf();
ki();
c100_close_channel();
fm_free(dfmp);
wn_dn(wnp);
wn_free(wnp);
return(SAMELEVEL);
} /* three_point_cal() */
int main(int argc, char **argv)
{
try {
const unsigned int d = 2;
const unsigned int p = 5;
// Create product basis
Teuchos::Array< Teuchos::RCP<const Stokhos::OneDOrthogPolyBasis<int,double> > > bases(d);
for (unsigned int i=0; i<d; i++)
bases[i] = Teuchos::rcp(new basis_type(p));
Teuchos::RCP<const Stokhos::CompletePolynomialBasis<int,double> > basis =
Teuchos::rcp(new Stokhos::CompletePolynomialBasis<int,double>(bases));
// Create approximation
Stokhos::OrthogPolyApprox<int,double> x(basis), u(basis), v(basis),
w(basis), w2(basis), w3(basis);
for (unsigned int i=0; i<d; i++) {
x.term(i, 1) = 1.0;
}
// Tensor product quadrature
Teuchos::RCP<const Stokhos::Quadrature<int,double> > quad =
Teuchos::rcp(new Stokhos::TensorProductQuadrature<int,double>(basis));
// Triple product tensor
Teuchos::RCP<Stokhos::Sparse3Tensor<int,double> > Cijk =
basis->computeTripleProductTensor();
// Quadrature expansion
Stokhos::QuadOrthogPolyExpansion<int,double> quad_exp(basis, Cijk, quad);
// Compute PCE via quadrature expansion
quad_exp.sin(u,x);
quad_exp.exp(v,x);
quad_exp.times(w,v,u);
// Compute tensor product Stieltjes basis for u and v
Teuchos::Array< Teuchos::RCP<const Stokhos::OneDOrthogPolyBasis<int,double> > > st_bases(2);
st_bases[0] =
Teuchos::rcp(new Stokhos::StieltjesPCEBasis<int,double>(
p, Teuchos::rcp(&u,false), quad, true));
st_bases[1] =
Teuchos::rcp(new Stokhos::StieltjesPCEBasis<int,double>(
p, Teuchos::rcp(&v,false), quad, true));
Teuchos::RCP<const Stokhos::CompletePolynomialBasis<int,double> > st_basis =
Teuchos::rcp(new Stokhos::CompletePolynomialBasis<int,double>(st_bases));
Stokhos::OrthogPolyApprox<int,double> u_st(st_basis), v_st(st_basis),
w_st(st_basis);
u_st.term(0, 0) = u.mean();
u_st.term(0, 1) = 1.0;
v_st.term(0, 0) = v.mean();
v_st.term(1, 1) = 1.0;
// Use Gram-Schmidt to orthogonalize Stieltjes basis of u and v
Teuchos::Array<double> st_points_0;
Teuchos::Array<double> st_weights_0;
Teuchos::Array< Teuchos::Array<double> > st_values_0;
st_bases[0]->getQuadPoints(p+1, st_points_0, st_weights_0, st_values_0);
Teuchos::Array<double> st_points_1;
Teuchos::Array<double> st_weights_1;
Teuchos::Array< Teuchos::Array<double> > st_values_1;
st_bases[1]->getQuadPoints(p+1, st_points_1, st_weights_1, st_values_1);
Teuchos::Array< Teuchos::Array<double> > st_points(st_points_0.size());
for (int i=0; i<st_points_0.size(); i++) {
st_points[i].resize(2);
st_points[i][0] = st_points_0[i];
st_points[i][1] = st_points_1[i];
}
Teuchos::Array<double> st_weights = st_weights_0;
Teuchos::RCP< Stokhos::GramSchmidtBasis<int,double> > gs_basis =
Teuchos::rcp(new Stokhos::GramSchmidtBasis<int,double>(st_basis,
st_points,
st_weights,
1e-15));
// Create quadrature for Gram-Schmidt basis using quad points and
// and weights from original basis mapped to Stieljtes basis
Teuchos::RCP< const Teuchos::Array< Teuchos::Array<double> > > points =
Teuchos::rcp(&st_points,false);
Teuchos::RCP< const Teuchos::Array<double> > weights =
Teuchos::rcp(&st_weights,false);
Teuchos::RCP<const Stokhos::Quadrature<int,double> > gs_quad =
Teuchos::rcp(new Stokhos::UserDefinedQuadrature<int,double>(gs_basis,
points,
weights));
// Triple product tensor
Teuchos::RCP<Stokhos::Sparse3Tensor<int,double> > gs_Cijk =
gs_basis->computeTripleProductTensor();
// Gram-Schmidt quadrature expansion
Stokhos::QuadOrthogPolyExpansion<int,double> gs_quad_exp(gs_basis,
gs_Cijk,
gs_quad);
Stokhos::OrthogPolyApprox<int,double> u_gs(gs_basis), v_gs(gs_basis),
w_gs(gs_basis);
// Map expansion in Stieltjes basis to Gram-Schmidt basis
gs_basis->transformCoeffs(u_st.coeff(), u_gs.coeff());
gs_basis->transformCoeffs(v_st.coeff(), v_gs.coeff());
// Compute w_gs = u_gs*v_gs in Gram-Schmidt basis
gs_quad_exp.times(w_gs, u_gs, v_gs);
// Project w_gs back to original basis
pce_quad_func gs_func(w_gs, *gs_basis);
quad_exp.binary_op(gs_func, w2, u, v);
// Triple product tensor
Teuchos::RCP<Stokhos::Sparse3Tensor<int,double> > st_Cijk =
st_basis->computeTripleProductTensor();
// Stieltjes quadrature expansion
Teuchos::RCP<const Stokhos::Quadrature<int,double> > st_quad =
Teuchos::rcp(new Stokhos::UserDefinedQuadrature<int,double>(st_basis,
points,
weights));
Stokhos::QuadOrthogPolyExpansion<int,double> st_quad_exp(st_basis,
st_Cijk,
st_quad);
// Compute w_st = u_st*v_st in Stieltjes basis
st_quad_exp.times(w_st, u_st, v_st);
// Project w_st back to original basis
pce_quad_func st_func(w_st, *st_basis);
quad_exp.binary_op(st_func, w3, u, v);
std::cout.precision(12);
std::cout << "w = " << std::endl << w;
std::cout << "w2 = " << std::endl << w2;
std::cout << "w3 = " << std::endl << w3;
std::cout << "w_gs = " << std::endl << w_gs;
std::cout << "w_st = " << std::endl << w_st;
std::cout.setf(std::ios::scientific);
std::cout << "w.mean() = " << w.mean() << std::endl
<< "w2.mean() = " << w2.mean() << std::endl
<< "w3.mean() = " << w3.mean() << std::endl
<< "w_gs.mean() = " << w_gs.mean() << std::endl
<< "w_st.mean() = " << w_st.mean() << std::endl
<< "w.std_dev() = " << w.standard_deviation() << std::endl
<< "w2.std_dev() = " << w2.standard_deviation() << std::endl
<< "w3.std_dev() = " << w3.standard_deviation() << std::endl
<< "w_gs.std_dev() = " << w_gs.standard_deviation() << std::endl
<< "w_st.std_dev() = " << w_st.standard_deviation() << std::endl;
}
catch (std::exception& e) {
std::cout << e.what() << std::endl;
}
}
