c++ - Function call different behavior in main and library -
i met strange thing, 2 days ago try debug code. i'm running code on windows 7 64bit os. in main calculate mathematical model knowing input signal, applied in control algorithm soop. calculation ok in main, in soop function while doing same thing have close not identical results. why? tired float , got same result.
does double rounded if calculate in function not in main?
main:
#include <unistd.h> #include <iostream> #include <windows.h> #include <fstream> #include <math.h> #include "model.h" #include "soop.h" using namespace std; int main( void ) { ofstream myfile; myfile.open ("modeltest.txt"); statee current_state; // = new statee; initstatee(current_state); current_state.variables[0] = 0.0; current_state.variables[0] = -3.0*pi/2.0; cout << "program init" << endl; // ==============model testing myfile << current_state.variables[0] <<", "<< current_state.variables[2] <<", "<<current_state.reward << ", "<< fmod((current_state.variables[0])+ pi, 2.0 * pi) -pi <<endl; double utmp = -10.0; (int i=0;i<3;i++) { current_state.variables[0] = -3.0*pi/2.0; copystatee(current_state, nextstatee(current_state, utmp)); utmp = utmp+10.0; myfile << current_state.variables[0] <<", "<< current_state.variables[2] <<", "<<current_state.reward << ", "<< fmod((current_state.variables[0])+ pi, 2.0 * pi) -pi <<endl; } // ==============soop testing initstatee(current_state); current_state.variables[0] = -3.0*pi/2.0; double commnadsignal[initlen]; for(int i=0; i<1; i++) { memcpy(commnadsignal,soop(current_state),sizeof(double)*initlen); copystatee(current_state,nextstatee(current_state, commnadsignal[0])); } myfile.close(); return 0; } the model library:
statee nextstatee(statee s, double votlagesignal) { std::cout<< "in nextstatee"<< std::endl; statee newstatee;// = (statee*)malloc(sizeof(statee)); memcpy(newstatee.variables, s.variables, sizeof(double) * nbhiddenstateevariables); newstatee.isterminal = s.isterminal; std::cout << " v "<< votlagesignal << " l "<< s.variables[0] << std::endl; double vm = votlagesignal; double lambda = s.variables[0]; double dlambda = s.variables[1]; double theta = s.variables[2]; double dtheta = s.variables[3]; double thetanext = theta + timestep*dtheta; double dthetanext = dtheta + timestep*( (1/(ap*cp-pow(bp,2)*pow(cos(lambda),2))) *(-bp*cp*sin(lambda)*pow(dlambda,2)+bp*dp*sin(lambda)*cos(lambda)-cp*ep*dtheta+cp*fp*vm) ); double lambdanext = lambda + timestep*dlambda; double dlambdanext = dlambda + timestep*( (1/(ap*cp-pow(bp,2)*pow(cos(lambda),2))) *(ap*dp*sin(lambda)-pow(bp,2)*sin(lambda)*cos(lambda)*pow(dlambda,2)-bp*ep*cos(lambda)*dtheta+bp*fp*cos(lambda)*vm) ); //========== normalization of lambda , theta if (lambdanext>0) lambdanext = fmod(lambdanext+pi, 2.0*pi)-pi; else lambdanext = fmod(lambdanext-pi, 2.0*pi)+pi; if (thetanext>0) thetanext = fmod(thetanext+pi, 2.0*pi)-pi; else thetanext = fmod(thetanext-pi, 2.0*pi)+pi; newstatee.variables[0] = lambdanext; newstatee.variables[1] = dlambdanext; newstatee.variables[2] = thetanext; newstatee.variables[3] = dthetanext; double newreward; if(s.isterminal) { newreward = 0.0; } else { newreward = 1 - (pow(lambdanext,2.0)*qreward + pow(votlagesignal,2.0)*rreward)/(pow(pi,2.0)*qreward+ pow(maxvoltage,2.0)*rreward); } newstatee.reward=newreward; return newstatee; } void copystatee(statee& destination, statee original) { initstatee(destination); destination.variables[0] = original.variables[0]; // lambda destination.variables[1] = original.variables[1]; // dlambda destination.variables[2] = original.variables[2]; // theta destination.variables[3] = original.variables[3]; // dtheta destination.isterminal = 0; destination.reward = original.reward; } the controller library uses model library:
double * soop(statee& s0) { ofstream myfile; myfile.open ("sooptest.txt"); bool stopflag = false; unsigned int counter = 0; unsigned int currentbudget = 0; unsigned int listlenght = 0; unsigned int maxlengthsequence = 0; double tmpu = -10.0; (int i=0;i<3;i++) { double sptmp[initlen] = {0}; unsigned int stmp[initlen] = {0}; statee newstatee[initlen]; statee tmpe; sptmp[0] = ((double)i)/3.0; stmp[0] = 1; initstatee(tmpe); tmpe.variables[0]=-3.0*pi/2.0; copystatee(tmpe, nextstatee(tmpe , tmpu )); tmpu = tmpu + 10.0; newstatee[0] = nextstatee(s0, unnormu(middleofbox((double)i/3.0, stmp[0])) ); myfile << "u norm "<< middleofbox((double)i/3.0, stmp[0])<< " unorm "<<unnormu(middleofbox((double)i/3.0, stmp[0])) << endl; myfile <<"alp " << tmpe.variables[0] << " th " << tmpe.variables[2] << " r " << tmpe.reward << endl; myfile <<"alp " << newstatee[0].variables[0] << " th " << newstatee[0].variables[2] << " r " << newstatee[0] .reward << endl; myfile << endl; } myfile.close(); } the 2 text files modeltest.txt , soop test.txt should show same results, cuz applay same input parameters (s0 , [-10,0,10]) in main , in soop function. different rusults in text files. soop test file:
u norm 0.166667 unorm -10 alp 1.5708 th 0 r 0.75 alp 1.5708 th 0 r 0.75 u norm 0.5 unorm 0 alp 1.5708 th 0 r 0.75 alp 1.5708 th 0 r 0.75 u norm 0.833333 unorm 10 alp 1.5708 th 0 r 0.75 alp 1.5708 th 0 r 0.75 modeltest file:
alp 1.5708, th 0, r 0.75 (for s0 , -10) alp 1.57084, th -0.000115852, r 0.749986 (for s0 , 0) alp 1.57088, th -0.000230942, r 0.749972 (for s0 , 10)
my mistake, in main didn't initialized states of current_state (only 1 angle). initstatee(current_state) missing in main loop.
next mistake, reward factor voltagesignal, 'rreward = 0' reward wont change in function of control value.
the biggest mistake suppose systems angular state parameter change after first simulation. i'm using euler discrezitation f(q(t),u(t)) - 2nd order differential equation, control signal has effect on first derivative in first iteration , on position has effect after 2nd iteration.
p_{k+1} = p_k + daltat * q_k q_{k+1} = q_k + deltat * f(q_k, u_k) where deltat sampling time.
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