File content as of revision 1:cdd434f6aa9a:

#include "STATE_FEEDBACK.h"

STATE_FEEDBACK::STATE_FEEDBACK(size_t num_state, size_t num_in, size_t num_out, float samplingTime):
    n(num_state), p(num_in), q(num_out), Ts(samplingTime), K_full(num_in, vector<float>(num_state,0.0))
{
    zeros_n.assign(n, 0.0);
    zeros_p.assign(p, 0.0);
    zeros_q.assign(q, 0.0);
    //
    states = zeros_n;
    sys_inputs = zeros_p;
    sys_outputs = zeros_q;

}
// Assign Parameters
void STATE_FEEDBACK::assign_K_full(float* K_full_in, size_t p_in, size_t n_in){
    // K_full_in is the pointer of a mutidimentional array with size p_in by n_in
    if (n != n_in || p != p_in){
        n = n_in;
        p = p_in;
        zeros_n.resize(n, 0.0);
        zeros_p.resize(p, 0.0);
        K_full.assign(p, zeros_n);
    }
    //
    for (size_t i = 0; i < p; ++i){
        for (size_t j = 0; j < n; ++j){
            // K_full[i][j] = K_full_in[i][j];
            K_full[i][j] = *K_full_in;
            K_full_in++;
        }
    }
}
void STATE_FEEDBACK::fullStateFeedBack_calc(){
    sys_inputs = Get_VectorScalarMultiply(Mat_multiply_Vec(K_full, states),-1.0);
}

// Utilities
void STATE_FEEDBACK::Mat_multiply_Vec(vector<float> &v_out, const vector<vector<float> > &m_left, const vector<float> &v_right){ // v_out = m_left*v_right
    static vector<float>::iterator it_out;
    static vector<const float>::iterator it_m_row;
    static vector<const float>::iterator it_v;
    //
    it_out = v_out.begin();
    for (size_t i = 0; i < m_left.size(); ++i){
        *it_out = 0.0;
        it_m_row = m_left[i].begin();
        it_v = v_right.begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
}
vector<float> STATE_FEEDBACK::Mat_multiply_Vec(const vector<vector<float> > &m_left, const vector<float> &v_right){ // v_out = m_left*v_right
    static vector<float> v_out;
    // Size check
    if (v_out.size() != m_left.size()){
        v_out.resize(m_left.size());
    }
    // Iterators
    static vector<float>::iterator it_out;
    static vector<const float>::iterator it_m_row;
    static vector<const float>::iterator it_v;
    //
    it_out = v_out.begin();
    for (size_t i = 0; i < m_left.size(); ++i){
        *it_out = 0.0;
        it_m_row = m_left[i].begin();
        it_v = v_right.begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
    return v_out;
}
vector<float> STATE_FEEDBACK::Get_VectorPlus(const vector<float> &v_a, const vector<float> &v_b, bool is_minus) // v_a + (or -) v_b
{
    static vector<float> v_c;
    // Size check
    if (v_c.size() != v_a.size()){
        v_c.resize(v_a.size());
    }
    //
    for (size_t i = 0; i < n; ++i){
        if (is_minus){
            v_c[i] = v_a[i] - v_b[i];
        }else{
            v_c[i] = v_a[i] + v_b[i];
        }
    }
    return v_c;
}
vector<float> STATE_FEEDBACK::Get_VectorScalarMultiply(const vector<float> &v_a, float scale) // scale*v_a
{
    static vector<float> v_c;
    // Size check
    if (v_c.size() != v_a.size()){
        v_c.resize(v_a.size());
    }
    // for pure negative
    if (scale == -1.0){
        for (size_t i = 0; i < n; ++i){
            v_c[i] = -v_a[i];
        }
        return v_c;
    }
    // else
    for (size_t i = 0; i < n; ++i){
        v_c[i] = scale*v_a[i];

    }
    return v_c;
}