def run_observer(self, i):
#self.term1[:,i] = squeeze(colwise(dot(self.FO, self.X_tilde[:,i-1])))
self.term1[:,i] = squeeze(colwise(dot(self.G, self.X_tilde[:,i-1])))
self.term2[:,i] = squeeze(colwise(self.H*self.vvect[i-1]))
Y_tilde_float_i = squeeze(dot(self.C, self.X_tilde[:,i-1]))
#Y_tilde_int_i = Y_tilde_float_i.astype(int)
#self.term3[:,i] = squeeze(colwise(dot(self.Ke, self.Yvect[:,i]-Y_tilde_int_i)))
self.term3[:,i] = squeeze(colwise(dot(self.Ke, self.Yvect[:,i-1]-Y_tilde_float_i)))
## if term1.any() or term2.any() or term3.any():
## Pdb().set_trace()
next_x_tilde = self.term1[:,i] + self.term2[:,i] + self.term3[:,i]
#colwise(dot(self.Ke, self.Yvect[:,i-1]))
## if term1.any() or term2.any() or term3.any():
## if self.debug_ind < 2:
## print('i = '+str(i))
## print('term1 = ' + str(term1))
## print('term2 = ' + str(term2))
## print('term3 = ' + str(term3))
## print('next_x_tilde = ' + str(next_x_tilde))
## print('-'*20)
## self.debug_ind += 1
self.X_tilde[:,i] = squeeze(next_x_tilde)
def plot_states_from_verification(self, fi=3, clear=False, \
attr='X_tilde', \
label_attr=None):
if label_attr is None:
label_attr = attr
mat = getattr(self, attr)
mat = colwise(mat)
nr, nc = mat.shape
for n in range(nc):
cur_col = mat[:,n]
label = label_attr + '%i' % n
ax = self._prep_ax(fi=fi, clear=clear)
ax.plot(self.t, cur_col, label=label)
#ax.set_title(label)
fi += 1
