0
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 1 % SIMULATE simulates a discrete ssm with given inputs
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 3 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 4 % DESCRIPTION: SIMULATE simulates a discrete ssm with given inputs.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 5 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 6 % CALL: [mat_out pl_out] = simulate(sys, pl)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 7 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 8 % INPUTS:
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 9 % - sys, (array of) ssm object
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 10 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 11 % OUTPUTS:
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 12 % _ mat_out contains specified returned aos
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 13 % _ pl_out contains 'lastX', the last state position
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 14 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 15 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'simulate')">Parameters Description</a>
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 16 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 17 % VERSION: $Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 18 %
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 19 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 20
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 21 % TO DO: options to be defined (NL case)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 22 % allow use of other LTPDA functions to generate white noise
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 23
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 24
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 25 function varargout = simulate(varargin)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 26
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 27 %% starting initial checks
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 28
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 29 % use the caller is method flag
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 30 callerIsMethod = utils.helper.callerIsMethod;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 31
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 32 % Check if this is a call for parameters
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 33 if utils.helper.isinfocall(varargin{:})
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 34 varargout{1} = getInfo(varargin{3});
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 35 return
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 36 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 37
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 38 utils.helper.msg(utils.const.msg.PROC3, ['running ', mfilename]);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 39
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 40 % Collect input variable names
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 41 in_names = cell(size(varargin));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 42 for ii = 1:nargin,in_names{ii} = inputname(ii);end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 43
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 44 % Collect all SSMs and plists
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 45 [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 46 [pl, invars2, rest] = utils.helper.collect_objects(rest(:), 'plist');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 47 if ~isempty(rest)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 48 pl = combine(pl, plist(rest{:}));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 49 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 50 pl = combine(pl, getDefaultPlist());
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 51
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 52
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 53 %% begin function body
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 54
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 55 tini = pl.find('t0');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 56 if isempty(tini)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 57 tini = pl.find('tini'); % check for the old name
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 58 if isempty(tini)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 59 tini = time;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 60 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 61 warning('The use of the parameter ''tini'' is deprecated and will be removed in future releases. Use ''t0'' instead');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 62 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 63 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 64 if isa(tini,'double')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 65 tini = time(tini);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 66 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 67
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 68
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 69 %% retrieve system infos
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 70 if numel(sys)~=1
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 71 error('simulate needs exactly one ssm as an input')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 72 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 73 if ~sys.isnumerical
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 74 error(['error because system ',sys.name,' is not numerical']);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 75 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 76 timestep = sys.timestep;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 77 if timestep==0
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 78 error('timestep should not be 0 in simulate!!')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 79 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 80
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 81 if callerIsMethod
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 82 % we don't need the history of the input
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 83 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 84 inhist = sys.hist;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 85 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 86
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 87 if pl.isparam('noise variable names')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 88 error('The noise option used must be split between "covariance" and "cpsd". "noise variable names" does not exist anymore!')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 89 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 90
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 91 %% display time ?
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 92 displayTime = find(pl, 'displayTime');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 93
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 94 %% initial state
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 95 ssini = find(pl,'ssini');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 96 if isempty(ssini)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 97 initialize = find(pl, 'initialize');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 98 if initialize
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 99 ssini = sys.steadyState(pl);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 100 ssini = find(ssini, 'state');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 101 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 102 ssini = cell(sys.Nss,1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 103 for i=1:sys.Nss
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 104 ssini{i} = zeros(sys.sssizes(i),1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 105 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 106 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 107 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 108 ssSizesIni = sys.statesizes;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 109 SSini = double(ssm.blockMatFusion(ssini,ssSizesIni,1));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 110
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 111 %% collecting simulation i/o data
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 112
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 113 % values
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 114 aos_in = find(pl, 'aos');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 115 constants_in = find(pl, 'constants');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 116 cov_in = find(pl, 'covariance');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 117 cpsd_in = find(pl, 'CPSD');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 118 noise_in = blkdiag(cov_in, cpsd_in/(timestep*2));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 119 [U1,S1,V1] = svd(noise_in.'); %#ok<NASGU>
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 120 if (sum(S1<0)>0)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 121 error('Covariance matrix is not positive definite')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 122 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 123 noise_mat = U1*sqrt(S1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 124
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 125 %% modifying system's ordering
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 126 if find(pl, 'reorganize')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 127 sys = reorganize(sys, pl, 'set', 'for simulate', 'internal', 'internal');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 128 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 129
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 130 %% getting system's i/o sizes
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 131 inputSizes = sys.inputsizes;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 132 outputSizes = sys.outputsizes;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 133
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 134 Naos_in = inputSizes(1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 135 Nnoise = inputSizes(2);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 136 Nconstants = inputSizes(3);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 137 NstatesOut = outputSizes(1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 138 NoutputsOut = outputSizes(2);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 139
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 140 if numel(aos_in)~=Naos_in
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 141 error(['There are ' num2str(numel(aos_in)) ' input aos and ' num2str(Naos_in) ' corresponding inputs indexed.' ])
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 142 elseif numel(diag(noise_in))~=Nnoise
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 143 error(['There are ' num2str(numel(diag(noise_in))) ' input noise variances and ' num2str(Nnoise) ' corresponding inputs indexed.' ])
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 144 elseif numel(constants_in)~=Nconstants
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 145 error(['There are ' num2str(numel(constants_in)) ' input constants and ' num2str(Nconstants) ' corresponding inputs indexed.' ])
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 146 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 147
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 148 A = sys.amats{1,1};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 149 Coutputs = sys.cmats{2,1};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 150 Cstates = sys.cmats{1,1};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 151 Baos = sys.bmats{1,1};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 152 Daos = sys.dmats{2,1};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 153 Bnoise = sys.bmats{1,2} * noise_mat;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 154 Dnoise = sys.dmats{2,2} * noise_mat;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 155 Bcst = sys.bmats{1,3} * reshape(constants_in, Nconstants, 1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 156 Dcst = sys.dmats{2,3} * reshape(constants_in, Nconstants, 1);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 157
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 158 %% getting correct number of samples
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 159 Nsamples = find(pl, 'Nsamples');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 160 f0 = 1/timestep;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 161 for i=1:Naos_in
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 162 Nsamples = min(Nsamples,length(aos_in(i).y));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 163 try
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 164 if ~(f0==aos_in(i).fs)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 165 str = ['WARNING : ssm frequency is ',num2str(f0),...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 166 ' but sampling frequency of ao named ',...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 167 aos_in(i).name, ' is ', num2str(aos_in(i).fs) ];
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 168 utils.helper.msg(utils.const.msg.MNAME, str);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 169 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 170 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 171 % maybe tdata should be retrieved and verified to be equal, rather than this.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 172 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 173 if Nsamples == inf % case there is no input!
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 174 error('warning : no input option ''Nsamples'' providing simulation duration is available!!')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 175 Nsamples = 0;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 176 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 177
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 178 %% termination condition
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 179 if strcmp(find(pl, 'termincond'),'');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 180 doTerminate = false;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 181 terminationCond = '';
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 182 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 183 doTerminate = true;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 184 terminationCond = find(pl, 'termincond');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 185 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 186
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 187 %% ao vector
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 188 aos_vect = zeros(Naos_in, Nsamples);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 189 for j = 1:Naos_in
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 190 aos_vect(j,:) = aos_in(j).y(1:Nsamples).';
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 191 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 192
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 193 %% simulation loop
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 194 [x, y, lastX] = ssm.doSimulate(...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 195 SSini, Nsamples, ...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 196 A, Baos, Coutputs, Cstates, Daos, Bnoise, Dnoise, Bcst, Dcst,...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 197 aos_vect, doTerminate, terminationCond, displayTime, timestep, pl.find('force complete'));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 198
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 199 %% saving in aos
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 200 fs = 1/timestep;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 201 isysStr = sys.name;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 202
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 203 ao_out = ao.initObjectWithSize(1,NstatesOut+NoutputsOut);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 204 for i=1:NstatesOut
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 205 ao_out(i).setData(tsdata( x(i,:), fs ));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 206 ao_out(i).setName(sys.outputs(1).ports(i).name);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 207 ao_out(i).setXunits('s');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 208 ao_out(i).setYunits(sys.outputs(1).ports(i).units);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 209 ao_out(i).setDescription(...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 210 ['simulation for ' isysStr, ' : ', sys.outputs(1).ports(i).name,...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 211 ' ' sys.outputs(1).ports(i).description]);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 212 ao_out(i).setT0(tini);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 213 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 214 for i=1:NoutputsOut
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 215 ao_out(NstatesOut+i).setData(tsdata( y(i,:), fs ));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 216 ao_out(NstatesOut+i).setName(sys.outputs(2).ports(i).name);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 217 ao_out(NstatesOut+i).setXunits('s');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 218 ao_out(NstatesOut+i).setYunits(sys.outputs(2).ports(i).units);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 219 ao_out(NstatesOut+i).setDescription(...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 220 ['simulation for, ' isysStr, ' : ', sys.outputs(2).ports(i).name, ...
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 221 ' ', sys.outputs(2).ports(i).description]);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 222 ao_out(NstatesOut+i).setT0(tini);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 223 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 224
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 225 %% construct output plist
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 226 plist_out = plist('lastX', ssm.blockMatRecut(lastX,ssSizesIni,1) );
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 227
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 228 %% construct output matrix object
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 229 out = matrix(ao_out);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 230 if callerIsMethod
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 231 % do nothing
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 232 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 233 myinfo = getInfo('None');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 234 out.addHistory(myinfo, pl , ssm_invars(1), inhist );
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 235 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 236
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 237 %% Set output depending on nargout
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 238 if nargout == 1;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 239 varargout = {out};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 240 elseif nargout == 2;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 241 varargout = {out plist_out};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 242 elseif nargout == 0;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 243 iplot(ao_out);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 244 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 245 error('Wrong number of outputs')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 246 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 247 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 248
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 249 %--------------------------------------------------------------------------
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 250 % Get Info Object
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 251 %--------------------------------------------------------------------------
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 252 function ii = getInfo(varargin)
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 253
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 254 if nargin == 1 && strcmpi(varargin{1}, 'None')
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 255 sets = {};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 256 pl = [];
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 257 else
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 258 sets = {'Default'};
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 259 pl = getDefaultPlist;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 260 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 261 % Build info object
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 262 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $', sets, pl);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 263 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 264
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 265 %--------------------------------------------------------------------------
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 266 % Get Default Plist
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 267 %--------------------------------------------------------------------------
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 268 function pl = getDefaultPlist()
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 269 pl = ssm.getInfo('reorganize', 'for simulate').plists;
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 270 pl.remove('set');
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 271
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 272 p = param({'covariance', 'The covariance of this noise between input ports for the <i>time-discrete</i> noise model.'}, []);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 273 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 274
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 275 p = param({'CPSD', 'The one sided cross-psd of the white noise between input ports.'}, []);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 276 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 277
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 278 p = param({'aos', 'An array of input AOs.'}, ao.initObjectWithSize(1,0));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 279 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 280
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 281 p = param({'constants', 'Array of DC values for the different corresponding inputs.'}, paramValue.DOUBLE_VALUE(zeros(0,1)));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 282 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 283
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 284 p = param({'Nsamples', 'The maximum number of samples to simulate (AO length(s) overide this).'}, paramValue.DOUBLE_VALUE(inf));
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 285 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 286
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 287 p = param({'ssini', 'A cell-array of vectors that give the initial position for simulation.'}, {});
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 288 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 289
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 290 p = param({'initialize', 'When set to 1, a random state value is computed for the initial point.'}, paramValue.FALSE_TRUE);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 291 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 292
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 293 p = param({'tini', 'Same as t0; kept for backwards compatibility.'}, paramValue.EMPTY_DOUBLE );
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 294 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 295
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 296 p = param({'t0', 'The initial simulation time (seconds).'}, paramValue.EMPTY_DOUBLE );
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 297 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 298
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 299 p = param({'displayTime', 'Switch off/on the display'}, paramValue.TRUE_FALSE);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 300 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 301
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 302 p = param({'termincond', 'A string to evaluate a termination condition on the states in x (''lastX'') or outputs in y (''lastY'')'}, paramValue.EMPTY_STRING);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 303 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 304
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 305 p = param({'reorganize', 'When set to 0, this means the ssm does not need be modified to match the requested i/o. Faster but dangerous!'}, paramValue.TRUE_FALSE);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 306 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 307
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 308 p = param({'force complete', 'Force the use of the complete simulation code.'}, paramValue.FALSE_TRUE);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 309 pl.append(p);
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 310
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 311 end
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
+ − 312