EscEKFModel.hpp

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/*
 * EscEKFModel.hpp
 *
 *  Created on: Apr 13, 2015
 *      Author: Filip Mandic
 */

#ifndef ESCEKFMODEL_HPP_
#define ESCEKFMODEL_HPP_

#include <labust/control/esc/EscPerturbationBase.hpp>

namespace labust{
        namespace control{
                namespace esc{


                        class EscEkfGradModel : public EscPerturbationBase<double> {

                        public:

                                EscEkfGradModel(int ctrlNum, numericprecission Ts);

                                ~EscEkfGradModel();

                                 void initController(double sin_amp, double sin_freq, double corr_gain, double high_pass_pole, double low_pass_pole, double comp_zero, double comp_pole, double period, vector Q, vector R);

                                 vector gradientEstimation(numericprecission cost_signal_filtered, vector additional_input);

                                 vector controllerGain(vector postFiltered);

                                 vector superimposePerturbation(vector control);

                                 vector modelUpdate(vector state, vector input);

                                 vector outputUpdate(vector state, vector input);

                                 /***
                                 * K - gain
                                 * A0 - perturbation amplitude
                                 */
                                vector sin_amp_, sin_freq_, corr_gain_;
                                vector control_ref_, signal_demodulated_old_, phase_shift_;
                                /*** Controlled state */
                                vector state_;

                                /*** EKF */

                                matrix A, L, H, M, Q, R;
                                matrix Pk_plu, Pk_min, Kk;
                                vector xk_plu, xk_min, hk;

                                vector input, input_past;

                                /*** Measurement vector */
                                vector yk;

                                /*** New cost available flag */
                                bool newCost;

                                Eigen::Vector3d n1, n2;
                        };
                }
        }
}


#endif /* ESCEKFMODEL_HPP_ */