int main()
{
int m=1;
int l=1;
double dt=0.01;
pendulum1d_cost::N(0,0)=0.3;
pendulum1d_cost::N(1,1)=0.3;
pendulum1d_cost::Q=0.1;
pendulum1d::Cost cost=pendulum1d_cost::cost;
pendulum1d::DCost dcost=pendulum1d_cost::dcost;
pendulum1d::Cost costN=pendulum1d_cost::costN;
pendulum1d::DCost dcostN=pendulum1d_cost::dcostN;
SAC<pendulum1d>::Functions func(cost, dcost, costN, dcostN);
SAC<pendulum1d>::Params params;
params.alpha=-20;
params.beta=0.6;
params.Tc=0.64;
params.Tp=2.5;
params.Ts=0.02;
params.Tcal=0.01;
params.kmax=6;
pendulum1d::System sys(m,l);
pendulum1d::State state0(-2,7);
std::list<pendulum1d::Params> list_pars(1000, pendulum1d::State(0, 0));
std::list<Eigen::Matrix<double,1,1> > list_u;
Sim<pendulum1d>::State_Sim sim(sys,dt);
sim.init(state0);
SAC<pendulum1d> sac(sys,dt);
for(double t=0; t<30; t+=params.Ts)
{
sac.init(sim.get_state(), params, func, list_pars.begin(), list_pars.end(), &list_u);
sac.sac_ctrl(list_u);
sim.update(list_u.front());
list_u.pop_front();
sim.update(list_u.front());
list_u.pop_front();
}
sim.save("/media/fantaosha/Documents/JHU/Summer 2015/results/result3.mat");
return 0;
}
// Processes an event which drives a change in state.
void processEvent (char event) {
int ProcessedCorrectly = 0;
currentState = peek ();
printf ("Processing event: %c for state: %c \n", event, currentState);
switch(currentState) {
case STATE0:
ProcessedCorrectly = state0 (event);
break;
case STATE1:
ProcessedCorrectly = state1 (event);
break;
case STATE2:
ProcessedCorrectly = state2 (event);
break;
case STATE3:
ProcessedCorrectly = state3 (event);
break;
case STATE4:
ProcessedCorrectly = state4 (event);
break;
case STATE5:
ProcessedCorrectly = state5 (event);
break;
case STATE6:
ProcessedCorrectly = state6 (event);
break;
case STATE7:
ProcessedCorrectly = state7 (event);
break;
case STATE8:
ProcessedCorrectly = state8 (event);
break;
case STATE9:
ProcessedCorrectly = state9 (event);
break;
case STATEA:
ProcessedCorrectly = state10 (event);
break;
case STATEB:
ProcessedCorrectly = state11 (event);
break;
default:
printf ("Unknown state %d for event %c \n", currentState, event);
ProcessedCorrectly = 1;
}
if(ProcessedCorrectly == 1) {
printf ("The Grammar Failed The Syntax Machine\n");
exit (0);
}
}
char* getType(char* in_token){
char type = ' ';
char* output = " ";
token = in_token;
currChar = token[0];
currIndex = 0;
type = state0();
switch (type){
case 'm': output = "malformed"; break;
case 'n': output = "number"; break;
case 'w': output = "word"; break;
default: output = "idunno"; break;
}
//printf("\n%c - %s\n",type,output);
return output;
}
