C++ (Cpp) simZOHの例

コード例 #1

ファイル: SMCTest.cpp プロジェクト: radarsat1/siconos

void SMCTest::test_itw_ZOH()
{
  initTwisting();
  SP::ControlZOHSimulation simZOH(new ControlZOHSimulation(_t0, _T, _h));
  simZOH->setSaveOnlyMainSimulation(true);
  simZOH->addDynamicalSystem(_DS);
  simZOH->addSensor(_sensor, _h);
  simZOH->addActuator(_itw, _h);
  simZOH->initialize();
  simZOH->run();
  SimpleMatrix& data = *simZOH->data();
  ioMatrix::write("itw_ZOH.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_ZOH : ", (data - dataRef).normInf() < _tol, true);
}

コード例 #2

ファイル: PIDTest.cpp プロジェクト: radarsat1/siconos

void PIDTest::testPIDZOH()
{
  init();
  SP::ControlZOHSimulation simZOH(new ControlZOHSimulation(_t0, _T, _h));
  simZOH->addDynamicalSystem(_DS);
  simZOH->addSensor(_sensor, _h);
  simZOH->addActuator(_PIDcontroller, _h);
  simZOH->initialize();
  simZOH->run();
  SimpleMatrix& data = *simZOH->data();
  ioMatrix::write("PIDZOH.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("testPIDZOH : ", (data - dataRef).normInf() < _tol, true);
}

コード例 #3

ファイル: ObserverTest.cpp プロジェクト: siconos/siconos

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);
}

コード例 #4

ファイル: ObserverTest.cpp プロジェクト: radarsat1/siconos

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);
}