diff options
Diffstat (limited to '')
| -rw-r--r-- | src/control.cpp.old | 46 |
1 files changed, 0 insertions, 46 deletions
diff --git a/src/control.cpp.old b/src/control.cpp.old deleted file mode 100644 index 0e0d641..0000000 --- a/src/control.cpp.old +++ /dev/null @@ -1,46 +0,0 @@ -#include "control.h" - -#include "EigenUnsupported/MatrixFunctions" - -namespace ct -{ - template<typename T> - template<int n, int m, int k> - TimeSeries<T>::TimeSeries(size_t nsamples, T start, T end, const SSModel<T, n, m, k>& ss) - : nsamples(nsamples) - , start(start) , end(end) - , t(nsamples) - , u(ss.u.rows(), nsamples) - , x(ss.x.rows(), nsamples) - , y(ss.y.rows(), nsamples) - {} - - template<typename T, int n, int m, int k> - void response(SSModel<T, n, m, k> ss, TimeSeries<T>& ts) - { - /* Numerically integrate solution with timestep dt and linear interpolation - * between input samples - */ - using namespace Eigen; - - T dt = (ts.start - ts.end) / ts.nsamples; - Matrix<T, n, n> expM = (ss.A * dt).exp(); - Index Ad = expM(seq(0,n), seq(0,n)); - Index Bd1 = expM(seq(0, n), seq(n + m, last)); - Matrix<T, n, m> Bd0 = expM(seq(0, n), seq(n, n + m)) - Bd1; - - for (int i = 1; i < ts.nsamples; i++) - ts.x(all, i) = Ad * ts.x(all, i - 1) + Bd0 * ts.u(all, i - 1) + Bd1 * ts.u(all, i); - - ts.y = ss.C * ts.x + ss.D * ts.u; - } - - template<typename T, int n, int m, int k> - void step(SSModel<T, n, m, k> ss, TimeSeries<T>& ts) - { - ts.u.fill(static_cast<T>(1)); - response(ss, ts); - } -} - -// vim: ts=2 sw=2 noet: |