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");
double error =0.0;
bool test = !((error=ioMatrix::compareRefFile(data, "SMO.ref", _tol)) >= 0.0
&& error > _tol);
std::cout << "------- Integration done -------" << test <<std::endl;
CPPUNIT_ASSERT_EQUAL_MESSAGE("test_SMO_ZOH : ", test, 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);
}
string Satori::GetSentence(const string& name)
{
string script, sentence=name;
/*++m_nest_count;
if ( m_nest_limit > 0 && m_nest_count > m_nest_limit ) {
sender << "呼び出し回数超過：" << name << endl;
--m_nest_count;
return string("（" + name + "）");
}*/
// トークをさくらスクリプトに変換
const Talk *pTalk = GetSentenceInternal(sentence);
if ( pTalk ) {
Sender::nest_object smo(2);
script = SentenceToSakuraScriptExec(*pTalk);
sender << "return: " << script << "" << endl;
}
return script;
}
void SVM::train(Problem train) {
KernelParams p = KernelParams();
smo(train, p);
}
