//--------------------------------------------------------------------------
void Omu_Integrator::setup_struct(int k,
const Omu_VariableVec &x,
const Omu_VariableVec &u,
const Omu_DependentVec &Ft)
{
// initialize Jacobians for high-level integrator interface
if (k >= _K) {
m_error(E_INTERN, "Omu_Integrator::setup_struct"
" that was called with wrong integrator setup");
}
int i;
Omu_DepVec &Fc = _Fcs[k];
init_dims(k, x, u, Ft);
Fc.size(_n, _n, 0, _n, 0, _nx+_nu);
m_move(Ft.Jx, _nd, _nd, _n, _n, Fc.Jx, 0, 0);
m_move(Ft.Jdx, _nd, _nd, _n, _n, Fc.Jdx, 0, 0);
m_zero(Fc.Jq); // zero Jq wrt. continuous states as Jx gets chained with Sx
m_move(Ft.Jx, _nd, 0, _n, _nd, Fc.Jq, 0, 0);
m_move(Ft.Ju, _nd, 0, _n, _nu, Fc.Jq, 0, _nx);
Fc.c_setup = true;
for (i = 0; i < _n; i++) {
int wrt = 0;
if (Ft.is_linear_element(_nd + i, Omu_Dependent::WRT_x))
wrt |= Omu_Dependent::WRT_x;
if (Ft.is_linear_element(_nd + i, Omu_Dependent::WRT_dx))
wrt |= Omu_Dependent::WRT_dx;
if ((_nd == 0 || Ft.is_linear_element(_nd + i, Omu_Dependent::WRT_x)) &&
Ft.is_linear_element(_nd + i, Omu_Dependent::WRT_u))
wrt |= Omu_Dependent::WRT_q;
Fc.set_linear_element(i, wrt);
}
Fc.analyze_struct();
Fc.c_setup = false;
}
//--------------------------------------------------------------------------
void Omu_Integrator::init_stage(int k,
const Omu_VariableVec &x,
const Omu_VariableVec &u,
const Omu_DependentVec &Ft,
bool sa)
{
if (k >= _K) {
m_error(E_INTERN, "Omu_Integrator::init_stage"
" that was called with wrong integrator setup");
}
// initialize dimensions
init_dims(k, x, u, Ft);
_sa = sa;
if ((int)(_Fcs[k]->dim) != _n) {
m_error(E_INTERN, "Omu_Integrator::solve"
" that was called with wrong integrator setup of stage");
}
// initialize call arguments for sys->continuous
_ut.resize(_nu);
_dxt.resize(_nxt, _nx, _nu);
v_zero(_dxt); // zero time derivative of discrete states
// initialize call arguments for high-level integrator interface
_xc.resize(_n, 0, 0, _nq);
_dxc.resize(_n, 0, 0, _nq);
_q.resize(_nq);
// call high-level init
init(k, _xc, _q, _Fcs[k], sa);
// call depreciated init_stage
init_stage(k, (Omu_SVarVec &)x, u, sa);
}
bool Clustering::initialize() {
if (!m_conf.parse())
EXIT_ERROR("Parse error in config.in!");
m_threshold = atof(m_conf.get("threshold").c_str());
if (m_threshold == -1)
EXIT_ERROR("threshold is not set in config.in!");
string data_pt = m_conf.get("data_pt");
if (data_pt.empty())
EXIT_ERROR("data_pt is not set in config.in!");
read_docs(data_pt.c_str());
if (m_docs.empty())
EXIT_ERROR2("no queries read from ", data_pt.c_str());
cout << "read queries, size = " << m_docs.size() <<endl;
init_dims();
if (m_dims.empty())
EXIT_ERROR("Bad init cluster data format, feature dimension is zero!");
cout << "DimArray initialized, size = " << m_dims.size() <<endl;
return true;
}
