gmt_m2_ctrl_fsm_positionner/
lib.rs

1#![allow(non_upper_case_globals)]
2#![allow(non_camel_case_types)]
3#![allow(non_snake_case)]
4#![allow(improper_ctypes)]
5
6include!(concat!(env!("OUT_DIR"), "/bindings.rs"));
7
8include!(concat!(env!("OUT_DIR"), "/controller.rs"));
9
10#[cfg(test)]
11mod tests {
12    use std::f64::EPSILON;
13
14    use super::*;
15    use matio_rs::MatFile;
16
17    #[test]
18    fn impulse() {
19        let path = std::path::Path::new(env!("CARGO_MANIFEST_DIR"))
20            .join("..")
21            .join("simulink-models")
22            .join("m2fsm_tests.mat");
23        let mat = MatFile::load(path.to_str().unwrap()).unwrap();
24        let m2pact_fb_imp_t: Vec<f64> = mat.var("m2pact_fb_imp_t").unwrap();
25        let m2pact_fb_imp_y: Vec<f64> = mat.var("m2pact_fb_imp_y").unwrap();
26
27        let n = m2pact_fb_imp_t.len();
28
29        let sim_y: Vec<_> = m2pact_fb_imp_y; //.chunks(n).take(1).flatten().collect();
30        dbg!(&sim_y[..10]);
31
32        let mut ctrl = FsmPositionner::new();
33        let mut y = vec![];
34        for i in 0..n {
35            ctrl.inputs.M2pAct_E = if i == 0 { 1000f64 } else { 0f64 };
36            ctrl.step();
37            y.push(ctrl.outputs.M2pAct_U);
38        }
39        dbg!(&y[..10]);
40
41        let n = sim_y.len();
42        let y_err = (sim_y
43            .into_iter()
44            .zip(&y)
45            .map(|(sim_y, y)| 1. - y / sim_y)
46            .map(|x| x * x)
47            .sum::<f64>()
48            / (n as f64))
49            .sqrt();
50        assert!(dbg!(y_err) < EPSILON * 1e4);
51    }
52}
gmt_m2_ctrl_fsm_positionner/lib.rs

gmt_m2_ctrl_fsm_positionner/
lib.rs
