void R16(std::vector<Dynamic>& __ret) {
//arguments
ptr<std::string> hllr__0 = ptr<std::string> (__ret.back()); __ret.pop_back();
Dynamic retval;
retval = StateNoise(*hllr__0);
__ret.push_back(retval);
}
void R57(std::vector<Dynamic>& __ret) {
//arguments
Dynamic hllr__0 = __ret.back(); __ret.pop_back();
Dynamic retval;
retval = StateNoise(",");
__ret.push_back(retval);
}
void R82(std::vector<Dynamic>& __ret) {
//arguments
ptr<std::string> hllr__0 = ptr<std::string> (__ret.back()); __ret.pop_back();
Dynamic retval;
States x;
x.push_back(ptr<State>(StateNoise(*hllr__0)));
retval = x;
__ret.push_back(retval);
}
void R83(std::vector<Dynamic>& __ret) {
//arguments
ptr<std::string> hllr__1 = ptr<std::string> (__ret.back()); __ret.pop_back();
Dynamic hllr__0 = Dynamic (__ret.back()); __ret.pop_back();
Dynamic retval;
States& x = (States&) hllr__0;
x.push_back(ptr<State>(StateNoise(*hllr__1)));
retval = hllr__0;
__ret.push_back(retval);
}
//---------------------------------------------------------------------------
bool observer::clock(double u1,double u2,interval d,double alpha, interval boussole) {
// Au cas ou une boussole est accessible, il faut la ligne suivante
// Sinon, la ligne suivante est inutile. Donc, dans tous les cas, il vaut mieux la laisser.
interval sinTheta=Inter(Sin(Xhat[3]),Sin(boussole)); Csin(sinTheta,Xhat[3],-1); interval cosTheta=Inter(Cos(Xhat[3]),Cos(boussole)); Ccos(cosTheta,Xhat[3],-1);
Lu1.push_back(u1); Lu2.push_back(u2); Ld.push_back(d); Lalpha.push_back(alpha);
if ((int)Lu1.size()>N_window) {
Lu1.pop_front(); Lu2.pop_front(); Ld.pop_front(); Lalpha.pop_front(); }
if ((int)Lu1.size()==N_window)
Xhat=SIVIA(Xhat,Xsecours);
else {
if (phase==0) Xhat=Xprior0;
if (phase==1)
return(false); // Cette ligne de code ne devrait jamais être atteinte.
}
LXhat.push_back(Xhat);
if ((int)LXhat.size()>N_window-1) {LXhat.pop_front();}
if (Xhat.IsEmpty()) { // An inconsistency is detected. The observer is not reliable anymore.
//Form1->R1.DrawBox(Xpriork,clAqua,clAqua,bsSolid,1,2);
return false;
}
//DrawChenille(Center(Xhat[1]),Center(Xhat[2]),Center(Xhat[3]),alpha);
//DrawDiagram();
box Xhatp(4);
Incremente(Xhatp[1],Xhatp[2],Xhatp[3],Xhatp[4],Xhat[1],Xhat[2],Xhat[3],Xhat[4],u1,u2);
box StateNoise(4);
interval Noise=interval(-0.1,0.1);
StateNoise[1]=dt*Noise; StateNoise[2]=dt*Noise; StateNoise[3]=dt*Noise; StateNoise[4]=dt*Noise;
Xhatp=Xhatp+StateNoise;
Xhat=Xhatp;
if ((Xhat.Width()>5)&(phase==1)) return false; //On ne se localise pas avec une assez bonne précision. On sort.
return true;
}
