--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m-toolbox/classes/@ssm/bode.m	Wed Nov 23 19:22:13 2011 +0100
@@ -0,0 +1,264 @@
+% BODE makes a bode plot from the given inputs to outputs.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% DESCRIPTION: BODE makes a bode plot from the given inputs to outputs.
+%
+% CALL:   mat_out = bode(sys, pl)
+%         mat_out = bode(sys, 'key1', 'option1')
+%
+% INPUTS:
+%         'sys' - ssm object
+%         'pl'  - plist of options
+%
+% OUTPUTS:
+%
+%        'mat_out' - matrix of output AOs containing the requested responses.
+%
+% <a href="matlab:utils.helper.displayMethodInfo('ssm', 'bode')">Parameter Sets</a>
+%
+% VERSION: $Id: bode.m,v 1.40 2011/04/17 21:28:05 adrien Exp $
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function varargout = bode(varargin)
+  
+  % use the caller is method flag
+  callerIsMethod = utils.helper.callerIsMethod;
+  
+  % Check if this is a call for parameters
+  if utils.helper.isinfocall(varargin{:})
+    varargout{1} = getInfo(varargin{3});
+    return
+  end
+  
+  if callerIsMethod
+    % assume bode(sys,pl)
+    system = varargin{1};
+    pl = applyDefaults(getDefaultPlist(), varargin{2});
+  else
+    % starting initial checks
+    
+    utils.helper.msg(utils.const.msg.PROC3, ['running ', mfilename]);
+    
+    % Collect input variable names
+    in_names = cell(size(varargin));
+    for ii = 1:nargin,in_names{ii} = inputname(ii);end
+    
+    % Collect all AOs and plists
+    [system, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
+    [pl, invars2, rest]  = utils.helper.collect_objects(rest(:), 'plist');
+    
+    % combine default plist
+    if ~isempty(rest)
+      pl = combine(pl, plist(rest{:}));
+    end
+    pl = combine(pl, getDefaultPlist());
+    
+    % retrieving system's infos
+    if numel(system)~=1
+      error('we should have only one ssm and one plist object as an input')
+    end
+    
+    inhist  = system.hist;
+    if ~system.isStable
+      error('input ssm is not stable!')
+    end
+    
+  end
+  
+  if (system.isnumerical == 0)
+    warning(['The system ' system.name ' is symbolic. The system is made numeric for bode calculation.'])
+    sys = copy(system,1);
+    sys.keepParameters;
+  else
+    sys = system;
+  end
+  
+  % Compute frequency vector
+  f = pl.find('f');
+  if isempty(f)
+    % finding "f2"
+    if isempty(pl.find('f2'))
+      if sys.timestep>0
+        f2 = 0.5/sys.timestep;
+      else
+        f2 = 1;
+      end
+    else
+      f2 = pl.find('f2');
+    end
+    % finding "f1"
+    if isempty(pl.find('f1'))
+      f1 = f2*1e-5;
+    else
+      f1 = pl.find('f1');
+    end
+    nf = pl.find('nf');
+    scale = pl.find('scale');
+    % building "f" vector
+    switch lower(scale)
+      case 'log'
+        f = logspace(log10(f1), log10(f2), nf);
+      case 'lin'
+        f = linspace(f1, f2, nf);
+      otherwise
+        error('### Unknown scale option');
+    end
+  end
+  
+  % Is the f vector in an AO?
+  if isa(f, 'ao') && (isa(f.data, 'fsdata') || isa(f.data, 'xydata'))
+    f = f.x;
+  end
+  
+  % Compute omega
+  w = 2*pi*f;
+  
+  if find(pl, 'reorganize')
+    sys = reorganize(sys, pl, 'set', 'for bode', 'internal', 'internal');
+  end
+  
+  % getting system's i/o sizes
+  timestep = sys.timestep;
+  fs      = 1/timestep;
+  
+  inputSizes = sys.inputsizes;
+  outputSizes = sys.outputsizes;
+  
+  Nin = inputSizes(1);
+  NstatesOut = outputSizes(1);
+  NoutputsOut = outputSizes(2);
+  
+  A = sys.amats{1,1};
+  Coutputs = sys.cmats{2,1};
+  Cstates  = sys.cmats{1,1};
+  B     = sys.bmats{1,1};
+  D     = sys.dmats{2,1};
+  Dstates = zeros(size(Cstates,1), size(D,2));
+  
+  % bode computation
+  resps  = ssm.doBode(A, B, [Cstates; Coutputs], [Dstates; D], w, timestep);
+  
+  numericOutput = pl.find('numeric output');
+  
+  % build AO
+  if numericOutput
+    % just output pure numbers
+    count = 1;
+    
+    for ii=1:Nin
+      for oo=1:NoutputsOut
+        y = squeeze(resps(NstatesOut+oo,ii,:));
+        varargout{count} = y;
+        count = count + 1;
+      end
+    end
+    return;
+  else
+    % First make outputs and set the data
+    ao_out = ao.initObjectWithSize(NstatesOut+NoutputsOut, Nin);
+    for ii=1:Nin
+      for oo=1:NstatesOut
+        ao_out(oo,ii).setData(fsdata(f, squeeze(resps(oo,ii,:)), fs));
+      end
+      for oo=1:NoutputsOut
+        y = squeeze(resps(NstatesOut+oo,ii,:));
+        fsd = fsdata(f, y, fs);
+        ao_out(NstatesOut+oo,ii).setData(fsd);
+      end
+    end
+    
+    if ~callerIsMethod
+      % set names, units, description, and add history
+      isysStr = sys.name;
+      
+      for ii=1:Nin
+        for oo=1:NstatesOut
+          ao_out(oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(1).ports(oo).name]);
+          ao_out(oo,ii).setXunits('Hz');
+          ao_out(oo,ii).setYunits( simplify(sys.outputs(1).ports(oo).units / sys.inputs(1).ports(ii).units));
+          ao_out(oo,ii).setDescription(...
+            ['Bode of ' isysStr, ' from ',  sys.inputs(1).ports(ii).description,...
+            ' to ' sys.outputs(1).ports(oo).description]);
+        end
+        for oo=1:NoutputsOut
+          ao_out(NstatesOut+oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(2).ports(oo).name]);
+          ao_out(NstatesOut+oo,ii).setXunits('Hz');
+          ao_out(NstatesOut+oo,ii).setYunits( simplify(sys.outputs(2).ports(oo).units / sys.inputs(1).ports(ii).units));
+          ao_out(NstatesOut+oo,ii).setDescription(...
+            ['Bode of ' isysStr, ' from ',  sys.inputs(1).ports(ii).description,...
+            ' to ' sys.outputs(2).ports(oo).description]);
+        end
+      end
+    end
+  end
+  
+  %% construct output matrix object
+  out = matrix(ao_out);
+  if callerIsMethod
+    % do nothing
+  else
+    myinfo = getInfo('None');
+    out.addHistory(myinfo, pl , ssm_invars(1), inhist );
+  end
+  
+  %% Set output depending on nargout
+  if nargout == 1;
+    varargout = {out};
+  elseif nargout == 0;
+    iplot(ao_out);
+  else
+    error('Wrong number of outputs')
+  end
+  
+end
+
+
+%--------------------------------------------------------------------------
+% Get Info Object
+%--------------------------------------------------------------------------
+function ii = getInfo(varargin)
+  
+  if nargin == 1 && strcmpi(varargin{1}, 'None')
+    sets = {};
+    pl   = [];
+  else
+    sets = {'Default'};
+    pl   = getDefaultPlist;
+  end
+  % Build info object
+  ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.sigproc, '$Id: bode.m,v 1.40 2011/04/17 21:28:05 adrien Exp $', sets, pl);
+end
+
+%--------------------------------------------------------------------------
+% Get Default Plist
+%--------------------------------------------------------------------------
+function pl = getDefaultPlist()
+  pl = ssm.getInfo('reorganize', 'for bode').plists;
+  pl.remove('set');
+  
+  p = param({'f', 'A frequency vector (replaces f1, f2 and nf).'}, paramValue.EMPTY_DOUBLE) ;
+  pl.append(p);
+  
+  p = param({'f2', 'The maximum frequency. Default is Nyquist or 1Hz.'}, paramValue.EMPTY_DOUBLE);
+  pl.append(p);
+  
+  p = param({'f1', 'The minimum frequency. Default is f2*1e-5.'}, paramValue.EMPTY_DOUBLE);
+  pl.append(p);
+  
+  p = param({'nf', 'The number of frequency bins.'}, paramValue.DOUBLE_VALUE(1000));
+  pl.append(p);
+  
+  p = param({'scale', 'Distribute frequencies on a ''log'' or ''lin'' scale.'}, {1, {'log', 'lin'}, paramValue.SINGLE});
+  pl.append(p);
+  
+  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);
+  pl.append(p);
+  
+  p = param({'numeric output', 'When set to ture, the output of bode will be purely numeric - no analysis objects.'}, paramValue.FALSE_TRUE);
+  pl.append(p);
+  
+end
+
+
+