Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
C.1 Replacement Code for the File: rtai4 comedi datain.sci
C.1 Replacement Code for the File: rtai4 comedi datain.sci
function [ x , y , typ ] = r t a i 4 c o m e d i d a t a i n ( job , arg1 , arg2 )
x = [ ] ; y = [ ] ; typ = [ ] ;
select job
case ’ p l o t ’ then
exprs=arg1 . g r a p h i c s . exprs ;
ch=exprs ( 1 )
name=exprs ( 2 )
standard draw( arg1 )
case ’ g e t i n p u t s ’ then
[ x , y , typ ]= s t a n d a r d i n p u t s ( arg1 )
case ’ g etoutputs ’ then
[ x , y , typ ]= s t a n d a rd o u t p u ts ( arg1 )
case ’ g e t o r i g i n ’ then
[ x , y]= standard origin ( arg1 )
case ’ s e t ’ then
x=arg1
model=arg1 . model ; g r a p h i c s=arg1 . g r a p h i c s ;
exprs=g r a p h i c s . exprs ;
while %t do
[ ok , ch , name , range , a r e f , exprs ]=getvalue ( ’ Set RTAI−..
COMEDI DATA block parameters ’ , [ ’ Channel : ’ ; ’ Device : ..
’ ; ’ Range : ’ ; ’ Aref : ’ ] , l i s t ( ’ vec ’ , −1 , ’ s t r ’ , 1 , ’ vec ’..
, −1 , ’ vec ’ , −1) , exprs )
if ˜ok then break , end
if exists ( ’ outport ’ ) then out=ones ( outport , 1 ) , i n = [ ] ,
else out =1, i n = [ ] , end
[ model , graphics , ok]= check io( model , graphics , in , out ..
, 1 , [ ] )
if ok then
g r a p h i c s . exprs=exprs ;
model . i p a r =[ch ;
range ;
a r e f ;
length (name) ;
a s c i i (name) ’ ] ;
model . rpar = [ ] ;
model . d s t a t e = [ 1 ] ;
x . g r a p h i c s=g r a p h i c s ; x . model=model
break
end
end
case ’ d e f i n e ’ then
ch=0
name= ’ comedi0 ’
range=0
a r e f =0
model=s c i c o s m o d e l ( )
model . sim=l i s t ( ’ r t c o m e d i d a t a i n ’ , 4 )
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