void ObserverTest::test_Luenberger_ZOH()
{
init();
SP::ControlZOHSimulation simZOH(new ControlZOHSimulation(_t0, _T, _h));
simZOH->addDynamicalSystem(_DS);
simZOH->addSensor(_sensor, _h);
simZOH->addActuator(_pid, _h);
SP::Observer luenberger(new LuenbergerObserver(_sensor, *_xHat0, _C, _L));
simZOH->addObserver(luenberger, _h);
simZOH->initialize();
simZOH->run();
SimpleMatrix& data = *simZOH->data();
ioMatrix::write("Luenberger_ZOH.dat", "ascii", data, "noDim");
double error =0.0;
bool test = !((error=ioMatrix::compareRefFile(data, "Luenberger.ref", _tol)) >= 0.0
&& error > _tol);
std::cout << "------- Integration done -------" << test <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_Luenberger_ZOH : ", test , true);
}
void ObserverTest::test_Luenberger_Lsodar()
{
init();
SP::ControlLsodarSimulation simLsodar(new ControlLsodarSimulation(_t0, _T, _h));
simLsodar->addDynamicalSystem(_DS);
simLsodar->addSensor(_sensor, _h);
simLsodar->addActuator(_pid, _h);
SP::Observer luenberger(new LuenbergerObserver(_sensor, *_xHat0, _C, _L));
simLsodar->addObserver(luenberger, _h);
simLsodar->initialize();
simLsodar->run();
SimpleMatrix& data = *simLsodar->data();
ioMatrix::write("Luenberger_Lsodar.dat", "ascii", data, "noDim");
// Reference Matrix
SimpleMatrix dataRef(data);
dataRef.zero();
ioMatrix::read("Luenberger.ref", "ascii", dataRef);
std::cout << "------- Integration done, error = " << (data - dataRef).normInf() << " -------" <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_Luenberger_Lsodar : ", (data - dataRef).normInf() < _tol, true);
}