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custom_control_find.cpp
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custom_control_find.cpp
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#include "vector.h"
#include "parameters.h"
#include "include.h"
#include <QDebug>
Vector<6> custom_control_find(Vector<6> control, double t_sw, double T, Vector<6> initial_values,
Vector<6> final_values)
{
auto alpha = parameters::symmetrical::alpha;
auto beta = parameters::symmetrical::beta;
auto delta = parameters::symmetrical::delta;
double Delta = parameters::symmetrical::Delta;
double Lambda = parameters::symmetrical::Lambda;
double angle_step = precision::angle_step;
double N_step = precision::N_step;
for (unsigned i = 0; i < 3; ++i) {
qDebug() << "alpha" << i + 1 << " STARTING\n";
while(fabs(parameters::final::alpha[i] - alpha[i]) > precision::double_EPS)
{
qDebug() << "alpha" << i + 1 << " COMPUTING to " << parameters::final::alpha[i] << "\n";
auto pot_alpha = alpha;
auto pot_beta = beta;
auto pot_delta = delta;
auto pot_Delta = Delta;
auto pot_Lambda = Lambda;
if (pot_alpha[i] > parameters::final::alpha[i])
{
auto step = std::min(angle_step,
fabs(parameters::final::alpha[i] - pot_alpha[i]));
pot_alpha[i] -= step;
pot_beta[i] -= step;
if (i == 0)
{
pot_alpha[2] += step;
pot_beta[2] += step;
}
}
else
{
auto step = std::min(angle_step,
fabs(parameters::final::alpha[i] - pot_alpha[i]));
pot_alpha[i] += step;
pot_beta[i] += step;
if (i == 0)
{
pot_alpha[2] -= step;
pot_beta[2] -= step;
}
}
auto ans = control_solve(0, T, initial_values, final_values, control,
t_sw, pot_alpha, pot_beta, pot_delta, pot_Delta, pot_Lambda);
if (ans.first)
{
alpha = pot_alpha;
beta = pot_beta;
delta = pot_delta;
Delta = pot_Delta;
Lambda = pot_Lambda;
control = ans.second;
qDebug() << "alpha" << i + 1 << " " << alpha[i] << " OK\n";
}
else
{
qDebug() << "angle_step " << angle_step << "\n";
angle_step /= 2.0;
}
}
}
for (unsigned i = 0; i < 3; ++i) {
qDebug() << "beta" << i + 1 << " STARTING\n";
while(fabs(parameters::final::beta[i] - beta[i]) > precision::double_EPS)
{
qDebug() << "beta" << i + 1 << " COMPUTING to " << parameters::final::beta[i] << "\n";
auto pot_alpha = alpha;
auto pot_beta = beta;
auto pot_delta = delta;
auto pot_Delta = Delta;
auto pot_Lambda = Lambda;
if (pot_beta[i] > parameters::final::beta[i])
{
auto step = std::min(angle_step,
fabs(parameters::final::beta[i] - pot_beta[i]));
pot_beta[i] -= step;
if (i == 0)
{
pot_beta[2] += step;
}
}
else
{
auto step = std::min(angle_step,
fabs(parameters::final::beta[i] - pot_beta[i]));
pot_beta[i] += step;
if (i == 0)
{
pot_beta[2] -= step;
}
}
auto ans = control_solve(0, T, initial_values, final_values, control,
t_sw, pot_alpha, pot_beta, pot_delta, pot_Delta, pot_Lambda);
if (ans.first)
{
alpha = pot_alpha;
beta = pot_beta;
delta = pot_delta;
Delta = pot_Delta;
Lambda = pot_Lambda;
control = ans.second;
qDebug() << "beta" << i + 1 << " " << beta[i] << " OK\n";
}
else
{
qDebug() << "angle_step " << angle_step << "\n";
angle_step /= 2.0;
}
}
}
for (unsigned i = 0; i < 3; ++i) {
qDebug() << "delta" << i + 1 << " STARTING\n";
while(fabs(parameters::final::delta[i] - delta[i]) > precision::double_EPS)
{
qDebug() << "delta" << i + 1 << " COMPUTING to " << parameters::final::delta[i] << "\n";
auto pot_alpha = alpha;
auto pot_beta = beta;
auto pot_delta = delta;
auto pot_Delta = Delta;
auto pot_Lambda = Lambda;
if (pot_delta[i] > parameters::final::delta[i])
{
auto step = std::min(N_step,
fabs(parameters::final::delta[i] - pot_delta[i]));
pot_delta[i] -= step;
if (i == 0)
{
pot_delta[2] -= step;
}
if (i == 1)
{
pot_Delta -= step;
}
}
else
{
auto step = std::min(N_step,
fabs(parameters::final::delta[i] - pot_delta[i]));
pot_delta[i] += step;
if (i == 0)
{
pot_delta[2] += step;
}
if (i == 1)
{
pot_Delta += step;
}
}
auto ans = control_solve(0, T, initial_values, final_values, control,
t_sw, pot_alpha, pot_beta, pot_delta, pot_Delta, pot_Lambda);
if (ans.first)
{
alpha = pot_alpha;
beta = pot_beta;
delta = pot_delta;
Delta = pot_Delta;
Lambda = pot_Lambda;
control = ans.second;
qDebug() << "delta" << i + 1 << " " << delta[i] << "OK\n";
}
else
{
N_step /= 2.0;
qDebug() << "N_step " << N_step << "\n";
}
}
}
qDebug() << "Delta STARTING\n";
while(fabs(parameters::final::Delta - Delta) > precision::double_EPS)
{
qDebug() << "Delta COMPUTING to " << parameters::final::Delta << "\n";
auto pot_alpha = alpha;
auto pot_beta = beta;
auto pot_delta = delta;
auto pot_Delta = Delta;
auto pot_Lambda = Lambda;
if (pot_Delta > parameters::final::Delta)
{
pot_Delta -= std::min(N_step,
fabs(parameters::final::Delta - pot_Delta));
}
else
{
pot_Delta += std::min(N_step,
fabs(parameters::final::Delta - pot_Delta));
}
auto ans = control_solve(0, T, initial_values, final_values, control,
t_sw, pot_alpha, pot_beta, pot_delta, pot_Delta, pot_Lambda);
if (ans.first)
{
alpha = pot_alpha;
beta = pot_beta;
delta = pot_delta;
Delta = pot_Delta;
Lambda = pot_Lambda;
control = ans.second;
}
else
{
N_step /= 2.0;
qDebug() << "N_step " << N_step << "\n";
}
qDebug() << "Delta " << Delta << " OK\n";
}
qDebug() << "Lambda STARTING\n";
while(fabs(parameters::final::Lambda - Lambda) > precision::double_EPS)
{
qDebug() << "Lambda COMPUTING to " << parameters::final::Lambda << "\n";
auto pot_alpha = alpha;
auto pot_beta = beta;
auto pot_delta = delta;
auto pot_Delta = Delta;
auto pot_Lambda = Lambda;
if (pot_Lambda > parameters::final::Lambda)
{
pot_Lambda -= std::min(N_step,
fabs(parameters::final::Lambda - pot_Lambda));
}
else
{
pot_Lambda += std::min(N_step,
fabs(parameters::final::Lambda - pot_Lambda));
}
auto ans = control_solve(0, T, initial_values, final_values, control,
t_sw, pot_alpha, pot_beta, pot_delta, pot_Delta, pot_Lambda);
if (ans.first)
{
alpha = pot_alpha;
beta = pot_beta;
delta = pot_delta;
Delta = pot_Delta;
Lambda = pot_Lambda;
control = ans.second;
}
else
{
N_step /= 2.0;
qDebug() << "N_step " << N_step << "\n";
}
qDebug() << "Lambda " << Lambda << " OK\n";
}
return control;
}