Alex Pirciu / Mbed 2 deprecated BFMC

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Dependencies:   mbed mbed-rtos

include/SystemModels/systemmodels.inl@1:ceee5a608e7c, 2019-03-28 (annotated)

Committer:
alexpirciu
Date:
Thu Mar 28 07:44:42 2019 +0000
Revision:
1:ceee5a608e7c
assa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alexpirciu 1:ceee5a608e7c 1 /******************************************************************************/
alexpirciu 1:ceee5a608e7c 2 /** \brief CDiscreteTransferFucntion class constructor
alexpirciu 1:ceee5a608e7c 3 *
alexpirciu 1:ceee5a608e7c 4 * Constructor method
alexpirciu 1:ceee5a608e7c 5 */
alexpirciu 1:ceee5a608e7c 6 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 7 systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::CDiscreteTransferFucntion()
alexpirciu 1:ceee5a608e7c 8 :m_num(CNumType::zeros())
alexpirciu 1:ceee5a608e7c 9 ,m_den(CDenModType::zeros())
alexpirciu 1:ceee5a608e7c 10 ,m_denCoef(1)
alexpirciu 1:ceee5a608e7c 11 ,m_memInput()
alexpirciu 1:ceee5a608e7c 12 ,m_memOutput()
alexpirciu 1:ceee5a608e7c 13 {
alexpirciu 1:ceee5a608e7c 14 }
alexpirciu 1:ceee5a608e7c 15
alexpirciu 1:ceee5a608e7c 16
alexpirciu 1:ceee5a608e7c 17 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 18 systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::CDiscreteTransferFucntion(const CNumType& f_num,const CDenType& f_den)
alexpirciu 1:ceee5a608e7c 19 :m_num(CNumType::zeros())
alexpirciu 1:ceee5a608e7c 20 ,m_den(CDenModType::zeros())
alexpirciu 1:ceee5a608e7c 21 ,m_denCoef(1)
alexpirciu 1:ceee5a608e7c 22 ,m_memInput()
alexpirciu 1:ceee5a608e7c 23 ,m_memOutput()
alexpirciu 1:ceee5a608e7c 24 {
alexpirciu 1:ceee5a608e7c 25 this->setNum(f_num);
alexpirciu 1:ceee5a608e7c 26 this->setDen(f_den);
alexpirciu 1:ceee5a608e7c 27 }
alexpirciu 1:ceee5a608e7c 28
alexpirciu 1:ceee5a608e7c 29
alexpirciu 1:ceee5a608e7c 30 /** \brief Clear memory
alexpirciu 1:ceee5a608e7c 31 *
alexpirciu 1:ceee5a608e7c 32 *
alexpirciu 1:ceee5a608e7c 33 *
alexpirciu 1:ceee5a608e7c 34 */
alexpirciu 1:ceee5a608e7c 35 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 36 void systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::clearMemmory()
alexpirciu 1:ceee5a608e7c 37 {
alexpirciu 1:ceee5a608e7c 38 m_memInput=CInputMem::zeros();
alexpirciu 1:ceee5a608e7c 39 m_memOutput=COutputMem::zeros();
alexpirciu 1:ceee5a608e7c 40 }
alexpirciu 1:ceee5a608e7c 41
alexpirciu 1:ceee5a608e7c 42 /** \brief Clear memory
alexpirciu 1:ceee5a608e7c 43 *
alexpirciu 1:ceee5a608e7c 44 * @param f_input reference to input
alexpirciu 1:ceee5a608e7c 45 * @return l_output
alexpirciu 1:ceee5a608e7c 46 */
alexpirciu 1:ceee5a608e7c 47 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 48 T systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::operator()(const T& f_input)
alexpirciu 1:ceee5a608e7c 49 {
alexpirciu 1:ceee5a608e7c 50 shiftMemory<NNum>(m_memInput);
alexpirciu 1:ceee5a608e7c 51 m_memInput[0][0]=f_input;
alexpirciu 1:ceee5a608e7c 52 T l_output=((m_memInput*m_num-m_memOutput*m_den)[0][0])/m_denCoef;
alexpirciu 1:ceee5a608e7c 53 shiftMemory<NDen-1>(m_memOutput);
alexpirciu 1:ceee5a608e7c 54 m_memOutput[0][0]=l_output;
alexpirciu 1:ceee5a608e7c 55 return l_output;
alexpirciu 1:ceee5a608e7c 56 }
alexpirciu 1:ceee5a608e7c 57
alexpirciu 1:ceee5a608e7c 58 /** \brief Set num
alexpirciu 1:ceee5a608e7c 59 *
alexpirciu 1:ceee5a608e7c 60 * @param f_num reference to nominator
alexpirciu 1:ceee5a608e7c 61 *
alexpirciu 1:ceee5a608e7c 62 */
alexpirciu 1:ceee5a608e7c 63 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 64 void systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::setNum(const CNumType& f_num)
alexpirciu 1:ceee5a608e7c 65 {
alexpirciu 1:ceee5a608e7c 66 for(uint32_t i=0;i<NNum;++i)
alexpirciu 1:ceee5a608e7c 67 {
alexpirciu 1:ceee5a608e7c 68 m_num[i][0]=f_num[i][0];
alexpirciu 1:ceee5a608e7c 69 }
alexpirciu 1:ceee5a608e7c 70 }
alexpirciu 1:ceee5a608e7c 71
alexpirciu 1:ceee5a608e7c 72 /** \brief Set den
alexpirciu 1:ceee5a608e7c 73 *
alexpirciu 1:ceee5a608e7c 74 * @param f_den reference to denominator
alexpirciu 1:ceee5a608e7c 75 *
alexpirciu 1:ceee5a608e7c 76 */
alexpirciu 1:ceee5a608e7c 77 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 78 void systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::setDen(const CDenType& f_den)
alexpirciu 1:ceee5a608e7c 79 {
alexpirciu 1:ceee5a608e7c 80 for(uint32_t i=1;i<NDen;++i)
alexpirciu 1:ceee5a608e7c 81 {
alexpirciu 1:ceee5a608e7c 82 m_den[i-1][0]=f_den[i][0];
alexpirciu 1:ceee5a608e7c 83 }
alexpirciu 1:ceee5a608e7c 84 m_denCoef = f_den[0][0];
alexpirciu 1:ceee5a608e7c 85 }
alexpirciu 1:ceee5a608e7c 86
alexpirciu 1:ceee5a608e7c 87 /** \brief Get output
alexpirciu 1:ceee5a608e7c 88 *
alexpirciu 1:ceee5a608e7c 89 *
alexpirciu 1:ceee5a608e7c 90 * @return Output memory
alexpirciu 1:ceee5a608e7c 91 */
alexpirciu 1:ceee5a608e7c 92 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 93 T systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::getOutput()
alexpirciu 1:ceee5a608e7c 94 {
alexpirciu 1:ceee5a608e7c 95 return m_memOutput[0][0];
alexpirciu 1:ceee5a608e7c 96 }
alexpirciu 1:ceee5a608e7c 97
alexpirciu 1:ceee5a608e7c 98 /** \brief Shift memory
alexpirciu 1:ceee5a608e7c 99 *
alexpirciu 1:ceee5a608e7c 100 * @param f_mem reference to memory matrix
alexpirciu 1:ceee5a608e7c 101 * @return none
alexpirciu 1:ceee5a608e7c 102 */
alexpirciu 1:ceee5a608e7c 103 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 104 template<uint32_t N>
alexpirciu 1:ceee5a608e7c 105 void systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::shiftMemory(linalg::CMatrix<T,1,N>& f_mem)
alexpirciu 1:ceee5a608e7c 106 {
alexpirciu 1:ceee5a608e7c 107 for(uint32_t i=N-1;i>0;--i)
alexpirciu 1:ceee5a608e7c 108 {
alexpirciu 1:ceee5a608e7c 109 f_mem[0][i]=f_mem[0][i-1];
alexpirciu 1:ceee5a608e7c 110 }
alexpirciu 1:ceee5a608e7c 111 }
alexpirciu 1:ceee5a608e7c 112
alexpirciu 1:ceee5a608e7c 113 /******************************************************************************/
alexpirciu 1:ceee5a608e7c 114 /** \brief CDiscreteTimeSystemModel class constructor
alexpirciu 1:ceee5a608e7c 115 *
alexpirciu 1:ceee5a608e7c 116 * Constructor method
alexpirciu 1:ceee5a608e7c 117 *
alexpirciu 1:ceee5a608e7c 118 * @param f_dt Time step
alexpirciu 1:ceee5a608e7c 119 */
alexpirciu 1:ceee5a608e7c 120 template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
alexpirciu 1:ceee5a608e7c 121 systemmodels::nlti::mimo::CDiscreteTimeSystemModel<T,NA,NB,NC>::CDiscreteTimeSystemModel(const double f_dt)
alexpirciu 1:ceee5a608e7c 122 : m_states()
alexpirciu 1:ceee5a608e7c 123 , m_dt(f_dt)
alexpirciu 1:ceee5a608e7c 124 {
alexpirciu 1:ceee5a608e7c 125 }
alexpirciu 1:ceee5a608e7c 126
alexpirciu 1:ceee5a608e7c 127 /** \brief CDiscreteTimeSystemModel class constructor
alexpirciu 1:ceee5a608e7c 128 *
alexpirciu 1:ceee5a608e7c 129 * Constructor method
alexpirciu 1:ceee5a608e7c 130 *
alexpirciu 1:ceee5a608e7c 131 * @param f_states States
alexpirciu 1:ceee5a608e7c 132 * @param f_dt Time step
alexpirciu 1:ceee5a608e7c 133 */
alexpirciu 1:ceee5a608e7c 134 template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
alexpirciu 1:ceee5a608e7c 135 systemmodels::nlti::mimo::CDiscreteTimeSystemModel<T,NA,NB,NC>::CDiscreteTimeSystemModel(
alexpirciu 1:ceee5a608e7c 136 const CStatesType& f_states
alexpirciu 1:ceee5a608e7c 137 ,const double f_dt)
alexpirciu 1:ceee5a608e7c 138 : m_states(f_states)
alexpirciu 1:ceee5a608e7c 139 , m_dt(f_dt)
alexpirciu 1:ceee5a608e7c 140 {
alexpirciu 1:ceee5a608e7c 141 }
alexpirciu 1:ceee5a608e7c 142
alexpirciu 1:ceee5a608e7c 143
alexpirciu 1:ceee5a608e7c 144
alexpirciu 1:ceee5a608e7c 145 /** \brief Getter numitor
alexpirciu 1:ceee5a608e7c 146 *
alexpirciu 1:ceee5a608e7c 147 * @return const reference to numitor
alexpirciu 1:ceee5a608e7c 148 */
alexpirciu 1:ceee5a608e7c 149 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 150 const typename systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::CNumType& systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::getNum(){
alexpirciu 1:ceee5a608e7c 151 return m_num;
alexpirciu 1:ceee5a608e7c 152 }
alexpirciu 1:ceee5a608e7c 153
alexpirciu 1:ceee5a608e7c 154 /** \brief Getter denomitor
alexpirciu 1:ceee5a608e7c 155 * Return the denomitor without the first coefficeint.
alexpirciu 1:ceee5a608e7c 156 *
alexpirciu 1:ceee5a608e7c 157 * @return const reference to denomitor
alexpirciu 1:ceee5a608e7c 158 */
alexpirciu 1:ceee5a608e7c 159 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 160 const typename systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::CDenModType& systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::getDen(){
alexpirciu 1:ceee5a608e7c 161 return m_den;
alexpirciu 1:ceee5a608e7c 162 }
alexpirciu 1:ceee5a608e7c 163
alexpirciu 1:ceee5a608e7c 164 /** \brief Getter denomitor first coefficeint
alexpirciu 1:ceee5a608e7c 165 *
alexpirciu 1:ceee5a608e7c 166 * @return value of the denomitor first coefficeint
alexpirciu 1:ceee5a608e7c 167 */
alexpirciu 1:ceee5a608e7c 168 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 169 float systemmodels::lti::siso::CDiscreteTransferFucntion<T,NNum,NDen>::getDenCurrent(){
alexpirciu 1:ceee5a608e7c 170 return m_denCoef;
alexpirciu 1:ceee5a608e7c 171 }