void SMCTest::test_itw_Lsodar()
{
initTwisting();
SP::ControlLsodarSimulation simLsodar(new ControlLsodarSimulation(_t0, _T, _h));
simLsodar->setSaveOnlyMainSimulation(true);
simLsodar->addDynamicalSystem(_DS);
simLsodar->addSensor(_sensor, _h);
simLsodar->addActuator(_itw, _h);
simLsodar->initialize();
simLsodar->run();
SimpleMatrix& data = *simLsodar->data();
ioMatrix::write("itw_Lsodar.dat", "ascii", data, "noDim");
// Reference Matrix
SimpleMatrix dataRef(data);
dataRef.zero();
ioMatrix::read("itw.ref", "ascii", dataRef);
// it is a bad idea to compare solutions to an AVI that does not admit a unique solution
SiconosVector lambda1 = SiconosVector(data.size(0));
SiconosVector lambda2 = SiconosVector(data.size(0));
data.getCol(3, lambda1);
data.getCol(4, lambda2);
axpy(_beta, lambda2, lambda1);
SiconosVector lambda1Ref = SiconosVector(data.size(0));
SiconosVector lambda2Ref = SiconosVector(data.size(0));
dataRef.getCol(3, lambda1Ref);
dataRef.getCol(4, lambda2Ref);
axpy(_beta, lambda2Ref, lambda1Ref);
data.setCol(3, lambda1);
dataRef.setCol(3, lambda1Ref);
data.resize(data.size(0), 4);
dataRef.resize(data.size(0), 4);
std::cout << "------- Integration done, error = " << (data - dataRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_itw_Lsodar : ", (data - dataRef).normInf() < _tol, true);
}
/*static*/ bool JsonExpectationsSource::Parse(const char *jsonPath, Json::Value *jsonRoot) {
SkFILEStream inFile(jsonPath);
if (!inFile.isValid()) {
gm_fprintf(stderr, "unable to read JSON file %s\n", jsonPath);
DEBUGFAIL_SEE_STDERR;
return false;
}
SkAutoDataUnref dataRef(ReadFileIntoSkData(inFile));
if (NULL == dataRef.get()) {
gm_fprintf(stderr, "error reading JSON file %s\n", jsonPath);
DEBUGFAIL_SEE_STDERR;
return false;
}
const char *bytes = reinterpret_cast<const char *>(dataRef.get()->data());
size_t size = dataRef.get()->size();
Json::Reader reader;
if (!reader.parse(bytes, bytes+size, *jsonRoot)) {
gm_fprintf(stderr, "error parsing JSON file %s\n", jsonPath);
DEBUGFAIL_SEE_STDERR;
return false;
}
return true;
}
/*static*/ bool JsonExpectationsSource::Parse(const char *jsonPath, Json::Value *jsonRoot) {
SkAutoDataUnref dataRef(SkData::NewFromFileName(jsonPath));
if (NULL == dataRef.get()) {
SkDebugf("error reading JSON file %s\n", jsonPath);
DEBUGFAIL_SEE_STDERR;
return false;
}
const char *bytes = reinterpret_cast<const char *>(dataRef.get()->data());
size_t size = dataRef.get()->size();
Json::Reader reader;
if (!reader.parse(bytes, bytes+size, *jsonRoot)) {
SkDebugf("error parsing JSON file %s\n", jsonPath);
DEBUGFAIL_SEE_STDERR;
return false;
}
return true;
}
void PIDTest::testPIDLsodar()
{
init();
SP::ControlLsodarSimulation simLsodar(new ControlLsodarSimulation(_t0, _T, _h));
simLsodar->addDynamicalSystem(_DS);
simLsodar->addSensor(_sensor, _h);
simLsodar->addActuator(_PIDcontroller, _h);
simLsodar->initialize();
simLsodar->run();
SimpleMatrix& data = *simLsodar->data();
ioMatrix::write("PIDLsodar.dat", "ascii", data, "noDim");
// Reference Matrix
SimpleMatrix dataRef(data);
dataRef.zero();
ioMatrix::read("PID.ref", "ascii", dataRef);
std::cout << "------- Integration done, error = " << (data - dataRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("testPIDLsodar : ", (data - dataRef).normInf() < _tol, true);
}
void SMCTest::test_iSMC_ZOH()
{
init();
SP::ControlZOHSimulation simZOH(new ControlZOHSimulation(_t0, _T, _h));
simZOH->setSaveOnlyMainSimulation(true);
simZOH->addDynamicalSystem(_DS);
simZOH->addSensor(_sensor, _h);
simZOH->addActuator(_iSMC, _h);
simZOH->initialize();
simZOH->run();
SimpleMatrix& data = *simZOH->data();
ioMatrix::write("iSMC_ZOH.dat", "ascii", data, "noDim");
// Reference Matrix
SimpleMatrix dataRef(data);
dataRef.zero();
ioMatrix::read("iSMC.ref", "ascii", dataRef);
std::cout << "------- Integration done, error = " << (data - dataRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_iSMC_ZOH : ", (data - dataRef).normInf() < _tol, true);
}
void ObserverTest::test_SMO_ZOH()
{
init();
SP::ControlZOHSimulation simZOH(new ControlZOHSimulation(_t0, _T, _h));
simZOH->addDynamicalSystem(_DS);
simZOH->addSensor(_sensor, _h);
simZOH->addActuator(_pid, _h);
SP::Observer smo(new SlidingReducedOrderObserver(_sensor, *_xHat0, _C, _L));
simZOH->addObserver(smo, _h);
simZOH->initialize();
simZOH->run();
SimpleMatrix& data = *simZOH->data();
ioMatrix::write("SMO_ZOH.dat", "ascii", data, "noDim");
// Reference Matrix
SimpleMatrix dataRef(data);
dataRef.zero();
ioMatrix::read("SMO.ref", "ascii", dataRef);
std::cout << "------- Integration done, error = " << (data - dataRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_SMO_ZOH : ", (data - dataRef).normInf() < _tol, true);
}
