def valuesChanged(self):
states = self['states']
_LTI_BASE.valuesChanged(self) # removes hold
if len(self['x0']) != states:
self['x0'] = [[0]]*states
if len(self['P0']) != states:
self['P0'] = eye(states).tolist()
if len(self['Q']) != states:
self['Q'] = eye(states, states).tolist()
if len(self['R']) != 1:
self['R'] = eye(1).tolist() #TODO: change it to qxq
Q, R = self['Q'], self['R']
x0, P0 = array(self['x0']), self['P0']
A, B, C, D = self._lti.A, self._lti.B, self._lti.C, self._lti.D
self.__kf = KalmanFilter(A, B, C, D, Q, R, x0, P0)
def valuesChanged(self):
states = self['states'] # new number of states
dt = self['description type']
m = self._lti
ps = m.A.shape[0] # previous number of states
dch = False # description changed indicator
if (self['A'] and dt==0) or (self['num'] and dt==1):
dch = True
if ps != states: # Number of states changed - resize matrixes
A, B, C, D = m.A, m.B, m.C, m.D
if A.shape != (states, states):
A = eye(states)
p = B.shape[1] # number ouf inputs
if B.shape != (states, p):
B = eye(states, p)
q = C.shape[0] # number ouf outputs
if C.shape != (q, states):
C = eye(q, states)
if D.shape != (q, p):
D = zeros((q, p))
self._lti = lti(A, B, C, D)
m = self._lti
if dt==0: # 'transfer function'
# TODO: why m.num.tolist() returns (1,2)? - should be vector
self['num'], self['den'] = m.num.tolist()[0], m.den.tolist()
elif dt==1: # 'state space'
self['A'], self['B'], self['C'], self['D'] = m.A.tolist(), m.B.tolist(), m.C.tolist(), m.D.tolist()
elif dch: # number of states doesn't changed - change descr. type
if dt==0: # 'transfer function'
n, d = self['num'], self['den']
self._lti = lti(n, d)
del self['A']; del self['B']; del self['C']; del self['D']
elif dt==1: # 'state space'
A, B, C, D = self['A'], self['B'], self['C'], self['D']
if A.shape != (states, states):
A = eye(states)
p = len(B[1]) # number ouf inputs
if B.shape != (states, p):
B = eye(states, p)
q = len(C[0]) # number ouf outputs
if C.shape != (q, states):
C = eye(q, states)
if D.shape != (q, p):
D = zeros(q, p)
self._lti = lti(A, B, C, D)
del self['num']; del self['den']
