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Examples.EKFExportExample.md

Examples.EKFExportExample ​

An EKFObserver of the pendulum with free measurement and control inputs and the estimate as outputs, on the C backend, so that the model carries its own clock and is purely discrete. Exported to standalone C by the EKFExportDemo analysis. Without a plant subcomponent, the model of the filter is named by the component constructor of the plant, dynamics = ACADOSPendulumPlant.

Usage ​

MPCComponents.Examples.EKFExportExample()

Connectors ​

  • y - This connector represents a real signal as an input to a component (RealInput)

  • u - This connector represents a real signal as an input to a component (RealInput)

  • theta_hat - This connector represents a real signal as an output from a component (RealOutput)

  • omega_hat - This connector represents a real signal as an output from a component (RealOutput)

Behavior ​

Behavior of this component cannot be rendered because it includes path variables.

Source ​

dyad
"""
An `EKFObserver` of the pendulum with free measurement and control inputs and the estimate as
outputs, on the C backend, so that the model carries its own clock and is purely discrete. Exported
to standalone C by the `EKFExportDemo` analysis. Without a plant subcomponent, the model of the
filter is named by the component constructor of the plant, `dynamics = ACADOSPendulumPlant`.
"""
example component EKFExportExample
  "Sampled angle"
  y = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "y1": 400, "x2": 150, "y2": 500}}}
  }
  "Torque applied at the current tick"
  u = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "y1": 200, "x2": 150, "y2": 300}}}
  }
  "Estimated angle"
  theta_hat = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 600, "y1": 250, "x2": 700, "y2": 350}}}
  }
  "Estimated angular velocity"
  omega_hat = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 600, "y1": 400, "x2": 700, "y2": 500}}}
  }
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 100, "x2": 400, "y2": 200}}}
  }
  ekf = MPCComponents.EKFObserver(dynamics = ACADOSPendulumPlant, inputs = ["tau"], outputs = ["theta"], state_variables = ["th", "om"], Ts = 0.05, R1 = diagonal([1e-4, 1e-4]), R2 = diagonal([1e-3]), x0 = [0.0, 0.0], R0 = diagonal([1.0, 1.0]), backend = MPCComponents.Backend.C()) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
relations
  connect(y, ekf.y[1], periodicclock.y)
  connect(u, ekf.u[1])
  connect(ekf.xhat[1], theta_hat)
  connect(ekf.xhat[2], omega_hat)
metadata {"Dyad": {"doc": {"behavior": false}}}
end
Flattened Source
dyad
"""
An `EKFObserver` of the pendulum with free measurement and control inputs and the estimate as
outputs, on the C backend, so that the model carries its own clock and is purely discrete. Exported
to standalone C by the `EKFExportDemo` analysis. Without a plant subcomponent, the model of the
filter is named by the component constructor of the plant, `dynamics = ACADOSPendulumPlant`.
"""
example component EKFExportExample
  "Sampled angle"
  y = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "y1": 400, "x2": 150, "y2": 500}}}
  }
  "Torque applied at the current tick"
  u = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "y1": 200, "x2": 150, "y2": 300}}}
  }
  "Estimated angle"
  theta_hat = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 600, "y1": 250, "x2": 700, "y2": 350}}}
  }
  "Estimated angular velocity"
  omega_hat = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 600, "y1": 400, "x2": 700, "y2": 500}}}
  }
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 100, "x2": 400, "y2": 200}}}
  }
  ekf = MPCComponents.EKFObserver(dynamics = ACADOSPendulumPlant, inputs = ["tau"], outputs = ["theta"], state_variables = ["th", "om"], Ts = 0.05, R1 = diagonal([1e-4, 1e-4]), R2 = diagonal([1e-3]), x0 = [0.0, 0.0], R0 = diagonal([1.0, 1.0]), backend = MPCComponents.Backend.C()) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
relations
  connect(y, ekf.y[1], periodicclock.y)
  connect(u, ekf.u[1])
  connect(ekf.xhat[1], theta_hat)
  connect(ekf.xhat[2], omega_hat)
metadata {"Dyad": {"doc": {"behavior": false}}}
end


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No test cases defined.

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