void ZOHTest::testMatrixIntegration1()
{
std::cout << "===========================================" <<std::endl;
std::cout << " ===== ZOH tests start ... ===== " <<std::endl;
std::cout << "===========================================" <<std::endl;
std::cout << "------- Integrate an oscillator -------" <<std::endl;
_A->zero();
(*_A)(0, 1) = 1;
(*_A)(1, 0) = -1;
_x0->zero();
(*_x0)(0) = 1;
init();
SimpleMatrix dataPlot((unsigned)ceil((_T - _t0) / _h) + 10, 3);
SiconosVector& xProc = *_DS->x();
unsigned int k = 0;
dataPlot(0, 0) = _t0;
dataPlot(0, 1) = (*_x0)(0);
dataPlot(0, 2) = (*_x0)(1);
while (_sim->hasNextEvent())
{
_sim->computeOneStep();
k++;
dataPlot(k, 0) = _sim->nextTime();
dataPlot(k, 1) = xProc(0);
dataPlot(k, 2) = xProc(1);
_sim->nextStep();
_sim->eventsManager()->display();
}
dataPlot.display();
std::cout <<std::endl <<std::endl;
dataPlot.resize(k, 3);
ioMatrix::write("testMatrixIntegration1.dat", "ascii", dataPlot, "noDim");
// Reference Matrix
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
//magic line to compute the following:
// python -c "import numpy as np; t = np.linspace(0, 9.9, 100); np.savetxt('testMatrixIntegration1.ref', np.transpose([t, np.cos(t), -np.sin(t)]))" && sed -i "1i100 3" testMatrixIntegration1.ref
ioMatrix::read("testMatrixIntegration1.ref", "ascii", dataPlotRef);
std::cout << "------- Integration Ok, error = " << (dataPlot - dataPlotRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("testMatrixExp1 : ", (dataPlot - dataPlotRef).normInf() < _tol, true);
}
void ZOHTest::testMatrixIntegration4()
{
std::cout << "===========================================" <<std::endl;
std::cout << " ===== ZOH tests start ... ===== " <<std::endl;
std::cout << "===========================================" <<std::endl;
std::cout << "------- Integrate Orlov's controller -------" <<std::endl;
_h = .001;
_A->zero();
(*_A)(0, 1) = 1;
_x0->zero();
(*_x0)(0) = 1;
(*_x0)(1) = 1;
SP::SimpleMatrix B(new SimpleMatrix(_n, _n, 0));
SP::SimpleMatrix C(new SimpleMatrix(_n, _n));
(*B)(1, 0) = 2;
(*B)(1, 1) = 1;
C->eye();
SP::FirstOrderLinearTIR rel(new FirstOrderLinearTIR(C, B));
SP::SimpleMatrix D(new SimpleMatrix(_n, _n, 0));
rel->setDPtr(D);
SP::NonSmoothLaw nslaw(new RelayNSL(_n));
_DS.reset(new FirstOrderLinearDS(_x0, _A, _b));
_TD.reset(new TimeDiscretisation(_t0, _h));
_model.reset(new Model(_t0, _T));
SP::Interaction inter(new Interaction(_n, nslaw, rel));
_ZOH.reset(new ZeroOrderHoldOSI());
_model->nonSmoothDynamicalSystem()->insertDynamicalSystem(_DS);
_model->nonSmoothDynamicalSystem()->topology()->setOSI(_DS, _ZOH);
_model->nonSmoothDynamicalSystem()->link(inter, _DS);
_model->nonSmoothDynamicalSystem()->setControlProperty(inter, true);
_sim.reset(new TimeStepping(_TD, 1));
_sim->insertIntegrator(_ZOH);
SP::Relay osnspb(new Relay());
_sim->insertNonSmoothProblem(osnspb);
_model->setSimulation(_sim);
_model->initialize();
SimpleMatrix dataPlot((unsigned)ceil((_T - _t0) / _h) + 10, 7);
SiconosVector& xProc = *_DS->x();
SiconosVector& lambda = *inter->lambda(0);
SiconosVector sampledControl(_n);
unsigned int k = 0;
dataPlot(0, 0) = _t0;
dataPlot(0, 1) = (*_x0)(0);
dataPlot(0, 2) = (*_x0)(1);
dataPlot(0, 3) = 0;
dataPlot(0, 4) = 0;
dataPlot(0, 5) = 0;
dataPlot(0, 6) = 0;
while (_sim->hasNextEvent())
{
_sim->computeOneStep();
prod(*B, lambda, sampledControl, true);
k++;
dataPlot(k, 0) = _sim->nextTime();
dataPlot(k, 1) = xProc(0);
dataPlot(k, 2) = xProc(1);
dataPlot(k, 3) = sampledControl(0);
dataPlot(k, 4) = sampledControl(1);
dataPlot(k, 5) = lambda(0);
dataPlot(k, 6) = lambda(1);
_sim->nextStep();
}
dataPlot.resize(k, 7);
dataPlot.display();
std::cout <<std::endl <<std::endl;
ioMatrix::write("testMatrixIntegration4.dat", "ascii", dataPlot, "noDim");
// Reference Matrix
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
ioMatrix::read("testMatrixIntegration4.ref", "ascii", dataPlotRef);
std::cout << "------- Integration Ok, error = " << (dataPlot - dataPlotRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("testMatrixExp4 : ", (dataPlot - dataPlotRef).normInf() < _tol, true);
}
void OSNSPTest::testAVI()
{
std::cout << "===========================================" <<std::endl;
std::cout << " ===== OSNSP tests start ... ===== " <<std::endl;
std::cout << "===========================================" <<std::endl;
std::cout << "------- implicit Twisting relation -------" <<std::endl;
_h = 1e-1;
_T = 20.0;
double G = 10.0;
double beta = .3;
_A->zero();
(*_A)(0, 1) = 1.0;
_x0->zero();
(*_x0)(0) = 10.0;
(*_x0)(1) = 10.0;
SP::SimpleMatrix B(new SimpleMatrix(_n, _n, 0));
SP::SimpleMatrix C(new SimpleMatrix(_n, _n));
(*B)(1, 0) = G;
(*B)(1, 1) = G*beta;
C->eye();
SP::FirstOrderLinearTIR rel(new FirstOrderLinearTIR(C, B));
SP::SimpleMatrix H(new SimpleMatrix(4, 2));
(*H)(0, 0) = 1.0;
(*H)(1, 0) = -_h/2.0;
(*H)(2, 0) = -1.0;
(*H)(3, 0) = _h/2.0;
(*H)(1, 1) = 1.0;
(*H)(3, 1) = -1.0;
SP::SiconosVector K(new SiconosVector(4));
(*K)(0) = -1.0;
(*K)(1) = -1.0;
(*K)(2) = -1.0;
(*K)(3) = -1.0;
SP::NonSmoothLaw nslaw(new NormalConeNSL(_n, H, K));
_DS.reset(new FirstOrderLinearTIDS(_x0, _A, _b));
_TD.reset(new TimeDiscretisation(_t0, _h));
_model.reset(new Model(_t0, _T));
SP::Interaction inter(new Interaction(_n, nslaw, rel));
_osi.reset(new EulerMoreauOSI(_theta));
_model->nonSmoothDynamicalSystem()->insertDynamicalSystem(_DS);
_model->nonSmoothDynamicalSystem()->setOSI(_DS, _osi);
_model->nonSmoothDynamicalSystem()->link(inter, _DS);
_sim.reset(new TimeStepping(_TD));
_sim->insertIntegrator(_osi);
SP::AVI osnspb(new AVI());
_sim->insertNonSmoothProblem(osnspb);
_model->initialize(_sim);
SimpleMatrix dataPlot((unsigned)ceil((_T - _t0) / _h) + 10, 5);
SiconosVector& xProc = *_DS->x();
SiconosVector& lambda = *inter->lambda(0);
unsigned int k = 0;
dataPlot(0, 0) = _t0;
dataPlot(0, 1) = (*_x0)(0);
dataPlot(0, 2) = (*_x0)(1);
dataPlot(0, 3) = -1.0;
dataPlot(0, 4) = -1.0;
while (_sim->hasNextEvent())
{
_sim->computeOneStep();
k++;
dataPlot(k, 0) = _sim->nextTime();
dataPlot(k, 1) = xProc(0);
dataPlot(k, 2) = xProc(1);
dataPlot(k, 3) = lambda(0);
dataPlot(k, 4) = lambda(1);
_sim->nextStep();
}
std::cout <<std::endl <<std::endl;
dataPlot.resize(k, dataPlot.size(1));
ioMatrix::write("testAVI.dat", "ascii", dataPlot, "noDim");
// Reference Matrix
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
ioMatrix::read("testAVI.ref", "ascii", dataPlotRef);
std::cout << "------- Integration Ok, error = " << (dataPlot - dataPlotRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("testAVI : ", (dataPlot - dataPlotRef).normInf() < _tol, true);
}
