public virtual void LQR(double[] X, double[] Y)
{
if (X.Length != Y.Length)
{
return;
}
int N = X.Length;
int M = order;
RectangleMatrix A = new RectangleMatrix(N, M);
Vector B = new Vector(N);
for (int n = 0; n < N; n++)
{
B[n] = C;
for (int m = 0; m < M; m++)
{
A[n, m] = phi[m](X[n], Y[n]);
}
}
Vector V = A.LQR(B);
for (int n = 0; n < order; n++)
{
a[n] = V[n];
}
}
public void LQRTest()
{
RectangleMatrix target = new RectangleMatrix(5, 2); // TODO: инициализация подходящего значения
Vector v = new Vector(5); // TODO: инициализация подходящего значения
target[0, 0] = 0;
target[1, 0] = 1;
target[2, 0] = 2;
target[3, 0] = 3;
target[4, 0] = 4;
target[0, 1] = 1;
target[1, 1] = 1;
target[2, 1] = 1;
target[3, 1] = 1;
target[4, 1] = 1;
v[0] = 0;
v[1] = 2;
v[2] = 0;
v[3] = 2;
v[4] = 0;
Vector actual;
actual = target.LQR(v);
Assert.AreEqual(Math.Round(actual[0], 1), 0.0);
Assert.AreEqual(Math.Round(actual[1], 1), 0.8);
}
public override void LQR(double[] X, double[] Y)
{
if (X.Length != Y.Length)
{
return;
}
int N = X.Length;
int M = order - 1;
RectangleMatrix A = new RectangleMatrix(N, M);
Vector B = new Vector(N);
for (int n = 0; n < N; n++)
{
B[n] = -phi[0](X[n], Y[n]);
for (int m = 0; m < M; m++)
{
A[n, m] = phi[m + 1](X[n], Y[n]);
}
}
Vector V = A.LQR(B);
for (int n = 0; n < M; n++)
{
a[n + 1] = V[n];
}
a[0] = 1.0;
x0 = a[1];
y0 = a[2];
R = Math.Sqrt(x0 * x0 + y0 * y0 - a[3]);
}