File content as of revision 1:fbae330f0e71:

#include "Observer_ftRatio.h"

//
float Dimension_ftOb[] = {
    #include "Dimensions_ftOb.txt" // Load the parameter Dimensions_ftOb
};
//

Observer_ftRatio::Observer_ftRatio(float samplingTime):
        Ts(samplingTime),
        OB(Dimension_ftOb[3], Dimension_ftOb[4], Dimension_ftOb[5], 0, samplingTime),
        KFID_ratio_ft_right(samplingTime, 1.0, 0.0, 1.0, 1.0, 1.0, false), // For identifing the ratio_ft of the right wheel
        KFID_ratio_ft_left(samplingTime, 1.0, 0.0, 1.0, 1.0, 1.0, false), // For identifing the ratio_ft of the left wheel
        SAT_ratio_ft(Dimension_ftOb[1], 1.0, 0.0),
        LPF_ratio_ft(Dimension_ftOb[1], samplingTime, 10.0, 1) // fc = 10 Hz
{
    // To enble, run *.start() function
    enable = false;
    // Dimensions of the original system
    n = Dimension_ftOb[0];
    p = Dimension_ftOb[1];
    q = Dimension_ftOb[2];
    // Dimensions of the observer
    n_OB = Dimension_ftOb[3];
    p_OB = Dimension_ftOb[4];
    q_OB = Dimension_ftOb[5];
    n_ME_OB = Dimension_ftOb[6]; // Number of the measurement errors in the PI observer
    //
    zeros_n.assign(n, 0.0);
    zeros_p.assign(p, 0.0);
    zeros_q.assign(q, 0.0);
    zeros_n_ME_OB.assign(n_ME_OB, 0.0);
    //
    ones_p.assign(p, 1.0);

    // Assign parameters
    // init();

    // Indexes
    // idx_x_real = 0; // Index for x_real_est
    idx_x_ns = n;
    idx_ft_error_est = 2*n; // Index for ft_error_est

    // Input signals
    yc = zeros_p;
    // States
    ft_est = zeros_p;
    ft_error_est = zeros_p;
    ft_ideal_est = zeros_p;
    //
    x_real_est = zeros_n; // Estimation of the real states
    // x_ns_est = zeros_n; // Estimation of the states of the no-slip system

    // The estimation of measurement errors in PI observer
    Measurement_error_est = zeros_n_ME_OB;

    // The degree of no-slip
    // ratio_ft = zeros_p;
    ratio_ft = ones_p; // No slip
    ratio_ft_filtered = ones_p; // No slip

}
void Observer_ftRatio::start(){
    enable = true;
    //
    OB.start();
}
void Observer_ftRatio::pause(){
    enable = false;
    //
    OB.enable = false;
}
void Observer_ftRatio::stop(){
    if (!enable){
        return;
    }
    enable = false;
    // Reset
    reset();

    //
    OB.stop();
}
void Observer_ftRatio::reset(){
    //
    // Input signals
    yc = zeros_p;
    // States
    ft_est = zeros_p;
    ft_error_est = zeros_p;
    ft_ideal_est = zeros_p;
    //
    x_real_est = zeros_n; // Estimation of the real states
    // x_ns_est = zeros_n; // Estimation of the states of the no-slip system

    // The estimation of measurement errors in PI observer
    Measurement_error_est.assign(2, 0.0);

    // Reset the identifier for ratio_ft(s)
    KFID_ratio_ft_right.reset(1.0); // 1.0 for no-slip (full friction-force)
    KFID_ratio_ft_left.reset(1.0); // 1.0 for no-slip (full friction-force)

    // The degree of no-slip
    // ratio_ft = zeros_p;
    ratio_ft = ones_p; // No slip
    ratio_ft_filtered = ones_p;// No slip

    // Reset the low-pass filter for ratio_ft
    LPF_ratio_ft.reset(ratio_ft);

    //
    OB.reset();
}
//
void Observer_ftRatio::init(void){
    //
    float _A_ftOb[] = {
        #include "A_ftOb.txt" // Load the parameter A_ftOb
    };
    float _By_ftOb[] = {
        #include "By_ftOb.txt" // Load the parameter By_ftOb
    };
    /*
    float _Bv1_ftOb[] = {
        #include "Bv1_ftOb.txt" // Load the parameter Bv1_ftOb
    };
    */
    float _C_ftOb[] = {
        #include "C_ftOb.txt" // Load the parameter C_ftOb
    };
    //
    float _F1_ftOb[] = {
        #include "F1_ftOb.txt" // Load the parameter F1_ftOb
    };
    float _F2_ftOb[] = {
        #include "F2_ftOb.txt" // Load the parameter F2_ftOb
    };
    //
    float _L_ftOb[] = {
        #include "L_ftOb.txt" // Load the parameter L_ftOb
    };
    //
    OB.assign_At(_A_ftOb, n_OB);
    OB.assign_Bt(_By_ftOb, n_OB, p_OB);
    OB.assign_Cd(_C_ftOb, q_OB, n_OB);
    //
    OB.assign_Lt(_L_ftOb, n_OB, 0, q_OB);

    //-------------------------//
    // assign_Matrix(Bv1_ftOb, _Bv1_ftOb, n_OB, p_OB);
    //
    assign_Matrix(F1_ftOb, _F1_ftOb, p, n);
    assign_Matrix(F2_ftOb, _F2_ftOb, p, p);

}

//
void Observer_ftRatio::iterateOnce(const vector<float> &yc_in, const vector<float> &x_real_in){
    if(!enable){
        return;
    }
    // Insert values
    insertSignals(yc_in, x_real_in);

    // Progress one time slot
    OB.iterateOnce();


    // Clean up the estimation of w_ideal_avg and w_ideal_delta


    /*
    // for test
    return;
    //
    */


    // Get the results
    //--------------------------//
    size_t idx = 0;
    // x_real_est
    for (size_t i = 0; i < n; ++i){
        x_real_est[i] = OB.state_est[idx];
        //
        idx++;
    }

    // ft_est
    for (size_t i = 0; i < p; ++i){
        ft_est[i] = OB.state_est[idx];
        //
        idx++;
    }

    // Measurement_error_est
    for (size_t i = 0; i < n_ME_OB; ++i){
        Measurement_error_est[i] = OB.state_est[idx];
        //
        idx++;
    }
    //--------------------------//



    // ft_ideal_est
    // ft_ideal_est = F1_ftOb*x_real_est + F2_ftOb*yc
    ft_ideal_est = Mat_multiply_Vec(F1_ftOb, x_real_est);
    Get_VectorIncrement(ft_ideal_est, Mat_multiply_Vec(F2_ftOb, yc), false); // +=

    // ft_error_est = ft_est - ft_ideal_est;
    ft_error_est = Get_VectorPlus(ft_est, ft_ideal_est, true); // minus

    /*
    // The ratio_ft
    for (size_t i = 0; i < p; ++i){
        //
        if (ft_ideal_est[i] < NUM_THRESHOLD && (-ft_ideal_est[i]) < NUM_THRESHOLD){
            ratio_ft[i] = 1.0; // no-slip
        }else{
            ratio_ft[i] = ft_est[i]/ft_ideal_est[i];
        }
        // Saturation
        if (ratio_ft[i] > 1.0){
            ratio_ft[i] = 1.0;
        }else if (ratio_ft[i] < 0.0){
            ratio_ft[i] = 0.0;
        }
        //
    }
    */

    // Identify the ratio_ft
    //----------------------------------------------------//
    /*
    // Transform from (rifht, left) to (average, delta)
    T_ft_est.assign_R_L(ft_est);
    T_ft_ideal_est.assign_R_L(ft_ideal_est);

    // ratio_ft_avg
    KFID_ratio_ft_avg.C = T_ft_ideal_est.get_avg();
    ratio_ft[0] = KFID_ratio_ft_avg.filter(0.0, T_ft_est.get_avg());
    // ratio_ft_delta
    KFID_ratio_ft_delta.C = T_ft_ideal_est.get_delta();
    ratio_ft[1] = KFID_ratio_ft_delta.filter(0.0, T_ft_est.get_delta());
    */

    // Right-side ratio
    KFID_ratio_ft_right.C = ft_ideal_est[0];
    ratio_ft[0] = KFID_ratio_ft_right.filter(0.0, ft_est[0] );
    // Left-side ratio
    KFID_ratio_ft_left.C = ft_ideal_est[1];
    ratio_ft[1] = KFID_ratio_ft_left.filter(0.0, ft_est[1] );

    // Saturation
    ratio_ft = SAT_ratio_ft.filter(ratio_ft);
    //----------------------------------------------------//

    // Filtering
    ratio_ft_filtered = LPF_ratio_ft.filter(ratio_ft);

}

// Private methods
//
void Observer_ftRatio::insertSignals(const vector<float> &yc_in, const vector<float> &x_real_in){
    //
    yc = yc_in;
    // Insert values
    OB.sys_inputs = yc_in;
    OB.sys_outputs = x_real_in;
    //
    // OB.sys_extraDisturbance = Mat_multiply_Vec(Bv1_ftOb, v1_in);
}



// Utilities
void Observer_ftRatio::Mat_multiply_Vec(vector<float> &v_out, const vector<vector<float> > &m_left, const vector<float> &v_right){ // v_out = m_left*v_right

    // Size check
    if (v_out.size() != m_left.size()){
        v_out.resize(m_left.size());
    }

    /*
    // Iterators
    static vector<float>::iterator it_out;
    static vector<float>::iterator it_m_row;
    static vector<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 = vector<vector<float> >(m_left)[i].begin();
        it_v = vector<float>(v_right).begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            if (*it_m_row != 0.0 && *it_v != 0.0){
                (*it_out) += (*it_m_row) * (*it_v);
            }else{
                // (*it_out) += 0.0
            }
            // (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
    */

    // Indexing
    for (size_t i = 0; i < m_left.size(); ++i){
        //
        v_out[i] = 0.0;
        //
        for (size_t j = 0; j < v_right.size(); ++j){
            if (m_left[i][j] != 0.0 && v_right[j] != 0.0)
                v_out[i] += m_left[i][j]*v_right[j];
        }
    }

}
vector<float> Observer_ftRatio::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<float>::iterator it_m_row;
    static vector<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 = vector<vector<float> >(m_left)[i].begin();
        it_v = vector<float>(v_right).begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            if (*it_m_row != 0.0 && *it_v != 0.0){
                (*it_out) += (*it_m_row) * (*it_v);
            }else{
                // (*it_out) += 0.0
            }
            // (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
    */

    // Indexing
    for (size_t i = 0; i < m_left.size(); ++i){
        //
        v_out[i] = 0.0;
        //
        for (size_t j = 0; j < v_right.size(); ++j){
            if (m_left[i][j] != 0.0 && v_right[j] != 0.0)
                v_out[i] += m_left[i][j]*v_right[j];
        }
    }

    return v_out;
}
vector<float> Observer_ftRatio::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 < v_a.size(); ++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> Observer_ftRatio::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 < v_a.size(); ++i){
            v_c[i] = -v_a[i];
        }
        return v_c;
    }
    // else
    for (size_t i = 0; i < v_a.size(); ++i){
        v_c[i] = scale*v_a[i];

    }
    return v_c;
}
// Increment
void Observer_ftRatio::Get_VectorIncrement(vector<float> &v_a, const vector<float> &v_b, bool is_minus){ // v_a += (or -=) v_b
    // Size check
    if (v_a.size() != v_b.size()){
        v_a.resize(v_b.size());
    }
    //
    if (is_minus){ // -=
        for (size_t i = 0; i < v_b.size(); ++i){
            v_a[i] -= v_b[i];
        }
    }else{ // +=
        for (size_t i = 0; i < v_b.size(); ++i){
            v_a[i] += v_b[i];
        }
    }

}

//
void Observer_ftRatio::assign_Matrix(vector<vector<float> > &M, float* M_in, size_t m_in, size_t n_in){ // M_in is a m_in by n_in array
    // M_in is the pointer of a mutidimentional array with size m_in by n_in
    M.resize(m_in, vector<float>(n_in, 0.0));
    //
    for (size_t i = 0; i < m_in; ++i){
        for (size_t j = 0; j < n_in; ++j){
            // M[i][j] = M_in[i][j];
            M[i][j] = *M_in;
            M_in++;
        }
    }
}