Revision 4:d459418c3440, committed 2015-05-09

Comitter:

maruta

Date:

Sat May 09 02:48:46 2015 +0000

Parent:

3:e093e92b7039

Commit message:

updated to use const A, B, C, D matrices

Changed in this revision

--- a/ltisys.h	Fri May 08 17:23:03 2015 +0000
+++ b/ltisys.h	Sat May 09 02:48:46 2015 +0000
@@ -28,7 +28,7 @@
      *
      * @note All matrices are row major in this library. Different from MATLAB/FORTRAN.
      */
-    ltisys(double *matA, double *matB, double *matC, double *matD);
+    ltisys(const double *matA, const double *matB, const double *matC, const double *matD);
     virtual ~ltisys();
 
     /** Update states and outputs
@@ -48,26 +48,22 @@
     ///  system outputs
     double y[ny];
     
-    double A[nx][nx], B[nx][nu], C[ny][nx], D[ny][nu];
+    const double *A, *B, *C, *D;
 
 private:
     inline void matcopy(int nrow, int ncol, const double *src,
             double *dst);
     inline void mataddprod(int nrowDst, int ncolA, int ncolDst,
-            double *matA, double *matB,
+            const double *matA, const double *matB,
             double *dst);
     inline void matprod(int nrowDst, int ncolA, int ncolDst,
-            double *matA, double *matB,
+            const double *matA, const double *matB,
             double *dst);
     inline void calc_dx(double *x, double *dx);
 };
 
 template <int nx, int nu, int ny>
-ltisys<nx,nu,ny>::ltisys(double *matA, double *matB, double *matC, double *matD) {
-    matcopy(nx,nx,matA,&A[0][0]);
-    matcopy(nx,nu,matB,&B[0][0]);
-    matcopy(ny,nx,matC,&C[0][0]);
-    matcopy(ny,nu,matD,&D[0][0]);
+ltisys<nx,nu,ny>::ltisys(const double *matA, const double *matB, const double *matC, const double *matD): A(matA), B(matB), C(matC), D(matD){
     for(int i=0;i<nx;i++) x[i]=0.0;
     for(int i=0;i<nu;i++) u[i]=0.0;
     for(int i=0;i<ny;i++) y[i]=0.0;
@@ -109,9 +105,9 @@
     }
 
     // update I/O
-    matprod(ny,nx,1,&C[0][0],&x[0],&y[0]);
+    matprod(ny,nx,1,C,&x[0],&y[0]);
     matcopy(nu,1,new_u,u);
-    mataddprod(ny,nu,1,&D[0][0],&u[0],&y[0]);
+    mataddprod(ny,nu,1,D,&u[0],&y[0]);
 }
 
 template <int nx, int nu, int ny>
@@ -123,7 +119,7 @@
 
 template <int nx, int nu, int ny>
 inline void ltisys<nx,nu,ny>::mataddprod(int nrowDst, int ncolA, int ncolDst,
-        double *matA, double *matB,
+        const double *matA, const double *matB,
         double *dst) {
     for (int i = 0; i < nrowDst; i++) {
         for (int j = 0; j < ncolDst; j++) {
@@ -138,7 +134,7 @@
 
 template <int nx, int nu, int ny>
 inline void ltisys<nx,nu,ny>::matprod(int nrowDst, int ncolA, int ncolDst,
-        double *matA, double *matB,
+        const double *matA, const double *matB,
         double *dst) {
     for (int i = 0; i < nrowDst; i++) {
         for (int j = 0; j < ncolDst; j++) {
@@ -156,10 +152,10 @@
     for (int i = 0; i < nx; i++) {
         dx[i] = 0.0;
         for (int j = 0; j < nx; j++) {
-            dx[i] += A[i][j] * x[j];
+            dx[i] += A[i*nx+j] * x[j];
         }
         for (int j = 0; j < nu; j++) {
-            dx[i] += B[i][j] * u[j];
+            dx[i] += B[i*nu+j] * u[j];
         }
     }
 }