/// <summary> /// Transforms the specified vector. /// </summary> /// <param name="vector">The vector.</param> /// <returns>IStateVector.</returns> public IStateVector Transform(IControlVector vector) { IWritableVector result = new StateVector(Rows); Transform(vector, ref result); return((IStateVector)result); }
/// <summary> /// Adds another control vector /// </summary> /// <param name="other">The other vector</param> /// <returns>IStateVector.</returns> public IStateVector Add(IStateVector other) { IWritableVector result = new StateVector(Length); Add(other, ref result); return((IStateVector)result); }
/// <summary> /// Advances the simulation by the tiem given in <paramref name="step" /> /// </summary> /// <param name="step">The time step</param> /// <exception cref="System.NotImplementedException"></exception> public void AdvanceSimulation(TimeSpan step) { _simulationTime.Add(step); // Fetch new input values ControlVector.Update(_simulationTime); // Update matrices InputMatrix.Update(_simulationTime); StateMatrix.Update(_simulationTime); OutputMatrix.Update(_simulationTime); FeedthroughMatrix.Update(_simulationTime); // Calculate IStateVector ax = new StateVector(StateVector.Length); StateMatrix.Transform(StateVector, ref ax); IStateVector bu = new StateVector(StateVector.Length); StateMatrix.Transform(StateVector, ref ax); }
/// <summary> /// Transforms the specified vector. /// </summary> /// <param name="vector">The vector.</param> /// <returns>IStateVector.</returns> public IStateVector Transform(IControlVector vector) { IWritableVector result = new StateVector(Rows); Transform(vector, ref result); return (IStateVector)result; }
public static void Main(string[] args) { /* XorShift160 lol = new XorShift160(); double runningSum = 0; while (!Console.KeyAvailable) { Console.WriteLine(lol.NextDouble()); } return; */ IStateMatrix A = new StateMatrix(2, 2); A.SetValue(0, 0, 0); A.SetValue(0, 1, 1); A.SetValue(1, 0, 0); A.SetValue(1, 0, 0); /* var c = new CompiledMatrix<IStateMatrix>(A); c.Compile(); */ IInputMatrix B = new InputMatrix(2, 1); B.SetValue(0, 0, 0); B.SetValue(1, 0, 1); IOutputMatrix C = new OutputMatrix(2, 2); C.SetValue(0, 0, 1); C.SetValue(0, 1, 0); C.SetValue(1, 0, 0); C.SetValue(1, 1, 1); IFeedthroughMatrix D = new FeedthroughMatrix(2, 1); D.SetValue(0, 0, 0); D.SetValue(1, 0, 0); ControlVector u = new ControlVector(1); u.SetValue(0, 1); // TODO: Construct vectors and matrices by factory and let the simulation driver compile them after every external change IStateVector x = new StateVector(2); /* IStateVector dx = new StateVector(x.Length); IStateVector dxu = new StateVector(x.Length); IOutputVector y = new OutputVector(C.Rows); IOutputVector yu = new OutputVector(C.Rows); */ CancellationTokenSource cts = new CancellationTokenSource(); CancellationToken ct = cts.Token; Semaphore startCalculation = new Semaphore(0, 2); Semaphore calculationDone = new Semaphore(0, 2); SimulationTime simulationTime = new SimulationTime(); IStateVector dx = new StateVector(x.Length); Task inputToState = new Task(() => { IStateVector dxu = new StateVector(x.Length); while (!ct.IsCancellationRequested) { startCalculation.WaitOne(); Thread.MemoryBarrier(); A.Transform(x, ref dx); B.Transform(u, ref dxu); // TODO: TransformAndAdd() dx.AddInPlace(dxu); Thread.MemoryBarrier(); calculationDone.Release(); } }); IOutputVector y = new OutputVector(C.Rows); Task stateToOutput = new Task(() => { IOutputVector yu = new OutputVector(C.Rows); while (!ct.IsCancellationRequested) { startCalculation.WaitOne(); Thread.MemoryBarrier(); C.Transform(x, ref y); D.Transform(u, ref yu); // TODO: TransformAndAdd() y.AddInPlace(yu); Thread.MemoryBarrier(); calculationDone.Release(); } }); Task control = new Task(() => { Stopwatch watch = Stopwatch.StartNew(); int steps = 0; while (!ct.IsCancellationRequested) { // wait for a new u to be applied // TODO: apply control vector startCalculation.Release(2); // wait for y calculationDone.WaitOne(); calculationDone.WaitOne(); Thread.MemoryBarrier(); // wait for state vector to be changeable // TODO: perform real transformation x.AddInPlace(dx); // discrete integration, T=1 // video killed the radio star if (steps % 1000 == 0) { var localY = y; double thingy = steps/watch.Elapsed.TotalSeconds; Trace.WriteLine(simulationTime.Time + " Position: " + localY.GetValue(0) + ", Velocity: " + localY.GetValue(1) + ", Acceleration: " + u.GetValue(0) + ", throughput: " + thingy); } // cancel out acceleration if (steps++ == 10) { u.SetValue(0, 0); } // advance simulation time simulationTime.Add(TimeSpan.FromSeconds(1)); } }); inputToState.Start(); stateToOutput.Start(); control.Start(); Console.ReadKey(true); cts.Cancel(); /* while (!Console.KeyAvailable) { A.Transform(x, ref dx); B.Transform(u, ref dxu); // TODO: TransformAndAdd() dx.AddInPlace(dxu); // TODO: perform transformation x.AddInPlace(dx); // discrete integration, T=1 C.Transform(x, ref y); D.Transform(u, ref yu); // TODO: TransformAndAdd() y.AddInPlace(yu); // video killed the radio star if (steps%1000 == 0) { Trace.WriteLine("Position: " + y[0] + ", Velocity: " + y[1] + ", Acceleration: " + u[0] + ", throughput: " + steps/watch.Elapsed.TotalSeconds); } // cancel out acceleration if (steps++ == 10) { u[0] = 0; } } */ }
/// <summary> /// Advances the simulation by the tiem given in <paramref name="step" /> /// </summary> /// <param name="step">The time step</param> /// <exception cref="System.NotImplementedException"></exception> public void AdvanceSimulation(TimeSpan step) { _simulationTime.Add(step); // Fetch new input values ControlVector.Update(_simulationTime); // Update matrices InputMatrix.Update(_simulationTime); StateMatrix.Update(_simulationTime); OutputMatrix.Update(_simulationTime); FeedthroughMatrix.Update(_simulationTime); // Calculate IStateVector ax = new StateVector(StateVector.Length); StateMatrix.Transform(StateVector, ref ax); IStateVector bu = new StateVector(StateVector.Length); StateMatrix.Transform(StateVector, ref ax); }
/// <summary> /// Adds another control vector /// </summary> /// <param name="other">The other vector</param> /// <returns>IStateVector.</returns> public IStateVector Add(IStateVector other) { IWritableVector result = new StateVector(Length); Add(other, ref result); return (IStateVector)result; }