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-rw-r--r--src/c/CACSD/includes/lqr.h4
-rw-r--r--src/c/CACSD/interfaces/int_lqr.h11
-rw-r--r--src/c/CACSD/lqe/dlqea.c4
-rw-r--r--src/c/CACSD/lqr/dlqra.c55
4 files changed, 74 insertions, 0 deletions
diff --git a/src/c/CACSD/includes/lqr.h b/src/c/CACSD/includes/lqr.h
index 062d6e4..aab06d3 100644
--- a/src/c/CACSD/includes/lqr.h
+++ b/src/c/CACSD/includes/lqr.h
@@ -17,7 +17,11 @@
extern "C" {
#endif
+<<<<<<< HEAD
+void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, double* S, double* X, double* K);
+=======
void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
#ifdef __cplusplus
} /* extern "C" */
diff --git a/src/c/CACSD/interfaces/int_lqr.h b/src/c/CACSD/interfaces/int_lqr.h
index e6f534f..c292f8c 100644
--- a/src/c/CACSD/interfaces/int_lqr.h
+++ b/src/c/CACSD/interfaces/int_lqr.h
@@ -16,7 +16,18 @@
extern "C" {
#endif
+<<<<<<< HEAD
+#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],NULL,\
+ NULL,NULL,out1,out2);
+
+#define ss2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,out1,out2) dlqra(in1,\
+ size1[0],size1[1],in2,in3,NULL,out1,out2);
+
+#define ss2d2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,in4,size4,out1,out2) \
+ dlqra(in1,size1[0],size1[1],in2,in3,in4,out1,out2);
+=======
#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],out1,out2);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
#ifdef __cplusplus
} /* extern "C" */
diff --git a/src/c/CACSD/lqe/dlqea.c b/src/c/CACSD/lqe/dlqea.c
index 63f8d62..06c1c6e 100644
--- a/src/c/CACSD/lqe/dlqea.c
+++ b/src/c/CACSD/lqe/dlqea.c
@@ -54,7 +54,11 @@ void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K)
/*Calculate LQR gain*/
K_lqr = (double*) malloc(no_of_ip*no_of_st*sizeof(double));
+<<<<<<< HEAD
+ dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,NULL,NULL,NULL,X,K_lqr);
+=======
dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,X,K_lqr);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
dtransposea(K_lqr,sys_rows - no_of_st,no_of_st,K);
} \ No newline at end of file
diff --git a/src/c/CACSD/lqr/dlqra.c b/src/c/CACSD/lqr/dlqra.c
index 02ac150..15120f7 100644
--- a/src/c/CACSD/lqr/dlqra.c
+++ b/src/c/CACSD/lqr/dlqra.c
@@ -22,7 +22,12 @@
#include "schur.h"
#include "matrixDivision.h"
+<<<<<<< HEAD
+void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
+ double* S, double* K, double* X)
+=======
void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
{
int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
int row,col;
@@ -32,7 +37,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
double *A, *B, *C, *D;
double *B_t, *C_t, *D_t;
+<<<<<<< HEAD
+ //double *Q, *R, *S;
+=======
double *Q, *R, *S;
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
double *Ri, *LA, *LE;
double *BRi, *StRi, *S_t;
double *buf1, *buf2, *buf3, *buf4, *buf5, *buf6;
@@ -90,20 +99,45 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
dom = (int)sys[(sys_rows*(sys_cols-2)) + no_of_states];
+<<<<<<< HEAD
+=======
Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
dtransposea(B,no_of_states,no_of_inputs,B_t);
dtransposea(C,no_of_outputs,no_of_states,C_t);
dtransposea(D,no_of_outputs,no_of_inputs,D_t);
+<<<<<<< HEAD
+ if(Q == NULL)
+ {/*If Q is not provided*/
+ Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
+ }
+
+ if(R == NULL)
+ {/*If R is not provided*/
+ R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
+ dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
+ }
+
+ if(S == NULL)
+ {/*If Q is not provided*/
+ S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
+ dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
+ }
+
+ /*Free up unwanted variables*/
+=======
dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
/*Free up unwanted variables*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
free(C);
free(C_t);
free(D);
@@ -177,8 +211,13 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
/*Freeup umwanted variables*/
free(A);
+<<<<<<< HEAD
+ //free(Q);
+ //free(R);
+=======
free(Q);
free(R);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
free(BRi);
free(S_t);
free(StRi);
@@ -278,7 +317,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
}
+<<<<<<< HEAD
+ //free(Q);
+=======
free(Q);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
free(BRi);
free(S_t);
free(StRi);
@@ -316,7 +359,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
/*inv(B'XB+R)*/
dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
+<<<<<<< HEAD
+ dmulma(buf3,no_of_inputs,no_of_states,B,no_of_states,no_of_inputs,buf6);
+=======
dmulma(buf3,no_of_inputs,no_of_states,B_t,no_of_states,no_of_inputs,buf6);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
dadda(buf6,no_of_inputs*no_of_inputs,R,no_of_inputs*no_of_inputs,buf5);
dinverma(buf5,buf6,no_of_inputs);
/*B'XA+S*/
@@ -333,14 +380,22 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
free(A);
free(B);
+<<<<<<< HEAD
+ //free(R);
+=======
free(R);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
free(buf5);
free(buf6);
}
free(B_t);
+<<<<<<< HEAD
+ //free(S);
+=======
free(S);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
free(wsmall);
free(X12);
free(phi12);
generated by cgit (git 2.34.1) at 2025-02-12 01:35:31 +0000