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);
}
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);
}
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);
}
