complex LoopToolsWrapper::PV_B11(const double mu2, const double p2,
const double m02, const double m12) const
{
setmudim(mu2);
std::complex<double> B11val = B11(p2, m02, m12);
return complex( B11val.real(), B11val.imag(), false );
}
void graphics::NgoiLang(QPainter& painter,int x,int y,int c,int r)
{
QPoint A(x-r/2,y+c);
QPoint B(x+r/2,y+c);
QPoint C(x+r/2,y+c/3);
QPoint D(x,y);
QPoint E(x-r/2,y+c/3);
QPolygon poly1;
poly1 << D << E << A << B << C;
painter.drawPolygon(poly1);
// ve cai cua
QPoint A1(x,y+c);
QPoint B1(x,y+2*c/3);
QPoint C1(x-r/4,y+2*c/3);
QPoint D1(x-r/4,y+c);
QPolygon poly2;
poly2 << A1 << B1 << C1 << D1;
painter.drawPolyline(poly2);
// ve cua so
QPoint A11(x-r/4,y+c/6);
QPoint B11(x-r/4,y);
QPoint C11(x-r/8,y);
QPoint D11(x-r/8,y+c/12);
QPolygon poly21;
poly21 << A11 << B11 << C11 << D11;
painter.drawPolygon(poly21);
painter.drawRect(x+r/4,y+c/2.5,c/10,r/10);
}
void f(void) {
int b1 = B1();
if (b1) {
int b2 = B2();
if (b2) {
B3();
} else {
B4();
}
}
B5();
while (B6()) {
B12();
int b14;
do {
B13();
b14 = B14();
} while(b14);
B15();
}
int b7 = B7();
if (b7 || B8()) {
B9();
}
B10();
B11();
}
int main()
{
const int sz=7;
CArray A(sz);
A(0) = complex<float>(1,2);
A(1) = complex<float>(3,4);
Array<float,1> Ar = real(A);
BZTEST(int(Ar(0)) == 1 && int(Ar(1)) == 3);
Array<float,1> Ai = imag(A);
BZTEST(int(Ai(0)) == 2 && int(Ai(1)) == 4);
CArray Ac(sz);
Ac = conj(A);
BZTEST(Ac(0) == complex<float>(1,-2));
BZTEST(Ac(1) == complex<float>(3,-4));
Array<float,1> Ab(sz);
Ab = abs(A);
BZTEST(fabs(Ab(0) - 2.236068) < eps);
BZTEST(fabs(Ab(1) - 5.0) < eps);
Ab = arg(A);
BZTEST(fabs(Ab(0) - atan(2.0)) < eps);
BZTEST(fabs(Ab(1) - atan(4.0/3.0)) < eps);
Array<float,1> r(sz), theta(sz);
r(0) = 4.0f;
r(1) = 15.0f;
theta(0) = float(3.141592/3.0);
theta(1) = float(3.0*3.141592/2.0);
Ac = blitz::polar(r,theta);
BZTEST(fabs(real(Ac(0)) - 2) < eps);
BZTEST(fabs(imag(Ac(0)) - 3.4641012) < eps);
BZTEST(fabs(real(Ac(1)) - 0.0) < eps);
BZTEST(fabs(imag(Ac(1)) + 15.0) < eps);
Array<complex<long double>,1> A11(5),B11(5),C11(5);
A11=1,2,3,4,5;
B11=1,2,3,4,5;
C11=A11+B11;
BZTEST(fabs(real(C11(0)) - 2.) < eps);
C11=A11/B11;
BZTEST(fabs(real(C11(1)) - 1.) < eps);
C11=1.0l/A11;
BZTEST(fabs(real(C11(2)) - 1/3.) < eps);
C11=A11/1.0l;
BZTEST(fabs(real(C11(3)) - 4.) < eps);
C11=complex<long double>(0,1)/A11;
BZTEST(fabs(imag(C11(4)) - 1/5.) < eps);
C11=A11/complex<long double>(0,1);
BZTEST(fabs(imag(C11(0)) - -1.) < eps);
return 0;
}
returnValue DiscreteTimeExport::setup( )
{
int useOMP;
get(CG_USE_OPENMP, useOMP);
ExportStruct structWspace;
structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;
// non equidistant integration grids not implemented for NARX integrators
if( !equidistant ) return ACADOERROR( RET_INVALID_OPTION );
String fileName( "integrator.c" );
int printLevel;
get( PRINTLEVEL,printLevel );
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "--> Preparing to export %s... ",fileName.getName() );
ExportIndex run( "run" );
ExportIndex i( "i" );
ExportIndex j( "j" );
ExportIndex k( "k" );
ExportIndex tmp_index("tmp_index");
uint diffsDim = NX*(NX+NU);
uint inputDim = NX*(NX+NU+1) + NU + NP;
// setup INTEGRATE function
rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, BT_TRUE );
rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
if( equidistantControlGrid() ) {
integrate = ExportFunction( "integrate", rk_eta, reset_int );
}
else {
integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
}
integrate.setReturnValue( error_code );
integrate.addIndex( run );
integrate.addIndex( i );
integrate.addIndex( j );
integrate.addIndex( k );
integrate.addIndex( tmp_index );
rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
}
rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );
ExportVariable numInt( "numInts", 1, 1, INT );
if( !equidistantControlGrid() ) {
ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
integrate.addStatement( String( "int " ) << numInt.getName() << " = " << numStepsV.getName() << "[" << rk_index.getName() << "];\n" );
}
integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
integrate.addLinebreak( );
// integrator loop:
ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
ExportStatementBlock *loop;
if( equidistantControlGrid() ) {
loop = &tmpLoop;
}
else {
loop = &integrate;
loop->addStatement( String("for(") << run.getName() << " = 0; " << run.getName() << " < " << numInt.getName() << "; " << run.getName() << "++ ) {\n" );
}
loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
// Set rk_diffsPrev:
loop->addStatement( String("if( run > 0 ) {\n") );
if( NX1 > 0 ) {
ExportForLoop loopTemp1( i,0,NX1 );
loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,0,NX1 ) == rk_eta.getCols( i*NX+NX+NXA,i*NX+NX+NXA+NX1 ) );
if( NU > 0 ) loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,NX1,NX1+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1),i*NU+(NX+NXA)*(NX+1)+NU ) );
loop->addStatement( loopTemp1 );
}
if( NX2 > 0 ) {
ExportForLoop loopTemp2( i,0,NX2 );
loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,0,NX1+NX2 ) == rk_eta.getCols( i*NX+NX+NXA+NX1*NX,i*NX+NX+NXA+NX1*NX+NX1+NX2 ) );
if( NU > 0 ) loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,NX1+NX2,NX1+NX2+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+NX1*NU,i*NU+(NX+NXA)*(NX+1)+NX1*NU+NU ) );
loop->addStatement( loopTemp2 );
}
loop->addStatement( String("}\n") );
}
// evaluate states:
if( NX1 > 0 ) {
loop->addFunctionCall( lin_input.getName(), rk_xxx, rk_eta.getAddress(0,0) );
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameRHS(), rk_xxx, rk_eta.getAddress(0,NX1) );
}
// evaluate sensitivities:
if( NX1 > 0 ) {
for( uint i1 = 0; i1 < NX1; i1++ ) {
for( uint i2 = 0; i2 < NX1; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,i2,i2+1) == A11(i1,i2) );
}
for( uint i2 = 0; i2 < NU; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,NX1+i2,NX1+i2+1) == B11(i1,i2) );
}
}
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameDiffsRHS(), rk_xxx, rk_diffsNew2.getAddress(0,0) );
}
// computation of the sensitivities using chain rule:
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "if( run == 0 ) {\n" ) );
}
// PART 1
updateInputSystem(loop, i, j, tmp_index);
// PART 2
updateImplicitSystem(loop, i, j, tmp_index);
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "}\n" ) );
loop->addStatement( String( "else {\n" ) );
// PART 1
propagateInputSystem(loop, i, j, k, tmp_index);
// PART 2
propagateImplicitSystem(loop, i, j, k, tmp_index);
loop->addStatement( String( "}\n" ) );
}
// end of the integrator loop.
if( !equidistantControlGrid() ) {
loop->addStatement( "}\n" );
}
else {
integrate.addStatement( *loop );
}
// PART 1
if( NX1 > 0 ) {
Matrix zeroR = zeros(1, NX2);
ExportForLoop loop1( i,0,NX1 );
loop1.addStatement( rk_eta.getCols( i*NX+NX+NXA+NX1,i*NX+NX+NXA+NX ) == zeroR );
integrate.addStatement( loop1 );
}
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "done.\n" );
return SUCCESSFUL_RETURN;
}
