Initial commit

[pftoolbox.git] / simulators / @simulator / graph.m

function [simobj, cfilters]=graph(varargin);\r
% Graph method for the simulator class.\r
% Takes a simulator object and a filter, or a cell array of filters. Simulates data,\r
% filters it and visualizes the result.\r
%\r
% Syntax: (* = optional)\r
%\r
% graph(simobj, filtarray, steps, states*, u*, t*);\r
% graph(simobj, filtarray, steps, states*, u*, Ts*);\r
%\r
% In arguments:\r
%\r
% 1. simobj\r
%       simulator object that will be used for the filtering\r
% 2. filtarray\r
%       A filter object, or cell array of filter objects for use with the simulated data.\r
%       If a filter object is empty, the model assigned to the simulator object will be\r
%       assigned to the empty filter object.\r
% 3. steps\r
%       A positive integer containing the number of desired simulation steps.\r
%       These will be carried out, filtered and visualized. Note that no previous simulation or\r
%       filtered data (from the objects) will be used.\r
% 4* states\r
%       A scalar or a vector containing the states to be visualized.\r
% 4* []\r
%       'states' is set to 1, ie the first state is plotted.\r
% 5* u\r
%       A matrix u(t) containg deterministic data.\r
% 5* []\r
%       No u(t) will be used in the calculations.\r
% 6* Ts\r
%       A vector containing the desired sample points, where Ts(k) represents the\r
%       time of step k.\r
% 6* t\r
%       The time of the first simulation step. The discrete times of the succeeding steps will be\r
%       calculated using the T property of the assigned model.\r
%       The result is a generated sample point vector, Ts, that will be stored in the\r
%       simulator object.\r
% 6* []\r
%       't' will be set to simobj.t and the sample points, 'Ts', will be generated on\r
%       the basis of this.\r
\r
% Toolbox for nonlinear filtering.\r
% Copyright (C) 2005  Jakob Rosén <jakob.rosen@gmail.com>\r
%\r
% This program is free software; you can redistribute it and/or\r
% modify it under the terms of the GNU General Public License\r
% as published by the Free Software Foundation; either version 2\r
% of the License, or (at your option) any later version.\r
%\r
% This program is distributed in the hope that it will be useful,\r
% but WITHOUT ANY WARRANTY; without even the implied warranty of\r
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
% GNU General Public License for more details.\r
%\r
% You should have received a copy of the GNU General Public License\r
% along with this program; if not, write to the Free Software\r
% Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.\r
\r
simobj=varargin{1};\r
if isempty(simobj)\r
        error('The simulator object has no model!');\r
end\r
cfilters=varargin{2};\r
steps=varargin{3};\r
T=get(get(simobj,'model'),'T');         % Get the discrete time of the model\r
\r
if isa(cfilters,'cell')\r
        % A cell array was supplied. Calculate its length!\r
        filters=length(cfilters);\r
else\r
        % A single object was supplied. Make it into a cell array for compability!\r
        cfilters={cfilters};\r
        filters=1;\r
end\r
\r
% Since these arguments defaults to [], we don't have to go through the long procedure with them\r
if nargin>=5; u=varargin{5}; else; u=[]; end;\r
\r
% Declare the arguments\r
states=[];\r
\r
% Fetch arguments, if they exist\r
if nargin>=4; states=varargin{4}; end\r
\r
% If an empty argument, or no argument at all, was supplied - use its default value!\r
if isempty(states)\r
        states=1;\r
end\r
\r
% Default t, Ts\r
t=simobj.t;                     % Use t stored in the simulator object\r
Ts=(t:T:(t+(steps-1)*T))';      % Calculate sample points\r
\r
% Fetch t or Ts, if they are supplied and non-empty\r
if nargin>=6;                   % Ts or t was supplied by the user\r
        t=varargin{6};\r
        if length(t)>1\r
                if length(t)~=steps\r
                        error('Incorrect size of supplied Ts vector');\r
                else\r
                        % A sample point vector Ts was supplied. Use it!\r
                        if size(t,2)>1  % Ts is a row vector (we expect only one-dimensional vectors)\r
                                Ts=t';  % Transpose and copy it!\r
                        else\r
                                Ts=t;   % Ts is a column vector. Just copy it!\r
                        end\r
                end\r
        elseif length(t)        % Don't overwrite old Ts if the new t=[]\r
                Ts=(t:T:(t+(steps-1)*T))'; % Generate new sample points with respect to t\r
        end\r
end\r
\r
% Check if any filter object is empty. If so, use the model of the simulator object.\r
for j=1:filters\r
        if isempty(cfilters{j})\r
                filtobj=cfilters{j};    % set.m needs a named variable\r
                cfilters{j}=set(filtobj,'model',simobj.model);\r
        end;\r
end             \r
\r
% Start the action\r
hf=figure('Name','Graph');\r
wbar = waitbar(0,'Simulating...');\r
\r
legendcell=cell(filters+1,1);\r
legendcell{1}=class(simobj);\r
\r
[y xtrue]=simulate(simobj,steps,u,Ts);\r
figure(hf);\r
plot(Ts,xtrue(states,:),getcolors(1));\r
\r
%drawnow\r
hold on\r
\r
for j=1:filters\r
        waitbar(j/(filters+1),wbar,strcat('Filtering: ',class(cfilters{j})));\r
        figure(wbar);\r
        drawnow\r
        % The assignin construction introduces some "redundant" code, since\r
        % the filter command isn't able to operate on the cell array directly.\r
        filtobj=cfilters{j};\r
        [xhat xpred]=filter(filtobj,y,u,Ts);\r
        % The filter object is written back into the array for simplicity.\r
        cfilters{j}=filtobj;\r
        figure(hf);\r
        plot(Ts,xhat(states,:),getcolors(j+1));\r
%       drawnow\r
        legendcell{j+1}=class(cfilters{j});\r
end;\r
\r
waitbar(1,wbar,'Complete!');\r
drawnow\r
\r
hold off\r
xlabel('Time (t)')\r
legend(legendcell{:})\r
\r
close(wbar);\r