Last updated: 2021-07-11
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Knit directory:
VSA_altitude_hold/
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This notebook characterises data generated by the simulation of the classically implemented altitude hold controller. We need to understand the properties of the signals in order to design VSA implementations of them.
The values to be characterised are all the real scalars corresponding to the nodes in the data flow diagram for Design 01.
# function to add (weighted sum) an arbitrary number of VSA vectors
# Weighted add is implemented as weighted sampling from the source vectors
vsa_add <- function(
vec_list, # list of >= 2 VSA vectors of identical dimension
wt = rep(1, length.out = length(vec_list)), # vector of sampling weights
seed = NULL # seed for reproducibility of random sampling
) # value # one VSA vector, the weighted sum (sample) of the argument vectors
{
# OCD error checking that is mores useful as documentation
if(!is.list(vec_list))
stop("source VSA vectors must be supplied as a list")
if(length(vec_list) < 2)
stop("number of source VSA vectors must be >= 2")
if(!all(sapply(vec_list, is.vector, mode = "integer")))
stop("all source VSA vectors must be integer vectors")
if(!all(length(vec_list[[1]]) == sapply(vec_list, length)))
stop("all source VSA vectors must have the same length")
# if(length(wt) != length(vec_list))
# stop("number of weights must equal number of source VSA vectors")
if(min(wt) < 0)
stop("all weights must be >= 0")
if(max(wt) <= 0)
stop("at least one weight must be > 0")
# for each element of the result work out which source VSA to sample
vsa_dim <- length(vec_list[[1]])
# if a seed is specified the save and restore the RNG state
# copied and modified from http://www.cookbook-r.com/Numbers/Saving_the_state_of_the_random_number_generator/#saving-and-restoring-the-state-of-the-rng-in-functions
if(!is.null(seed) && exists(".Random.seed", .GlobalEnv))
{
oldseed <- .GlobalEnv$.Random.seed
set.seed(seed)
}
else
oldseed <- NULL
vsa_source <- sample.int(length(vec_list), size = vsa_dim, replace = TRUE, prob = wt)
if (!is.null(oldseed))
.GlobalEnv$.Random.seed <- oldseed
# else
# rm(".Random.seed", envir = .GlobalEnv)
vsa_source
}
sessionInfo()R version 4.1.0 (2021-05-18)
Platform: x86_64-pc-linux-gnu (64-bit)
Running under: Ubuntu 21.04
Matrix products: default
BLAS: /usr/lib/x86_64-linux-gnu/blas/libblas.so.3.9.0
LAPACK: /usr/lib/x86_64-linux-gnu/lapack/liblapack.so.3.9.0
locale:
[1] LC_CTYPE=en_AU.UTF-8 LC_NUMERIC=C
[3] LC_TIME=en_AU.UTF-8 LC_COLLATE=en_AU.UTF-8
[5] LC_MONETARY=en_AU.UTF-8 LC_MESSAGES=en_AU.UTF-8
[7] LC_PAPER=en_AU.UTF-8 LC_NAME=C
[9] LC_ADDRESS=C LC_TELEPHONE=C
[11] LC_MEASUREMENT=en_AU.UTF-8 LC_IDENTIFICATION=C
attached base packages:
[1] stats graphics grDevices datasets utils methods base
other attached packages:
[1] here_1.0.1 fs_1.5.0
loaded via a namespace (and not attached):
[1] Rcpp_1.0.7 whisker_0.4 knitr_1.33 magrittr_2.0.1
[5] workflowr_1.6.2 R6_2.5.0 rlang_0.4.11 fansi_0.5.0
[9] stringr_1.4.0 tools_4.1.0 xfun_0.24 utf8_1.2.1
[13] git2r_0.28.0 htmltools_0.5.1.1 ellipsis_0.3.2 rprojroot_2.0.2
[17] yaml_2.2.1 digest_0.6.27 tibble_3.1.2 lifecycle_1.0.0
[21] bookdown_0.22 crayon_1.4.1 later_1.2.0 vctrs_0.3.8
[25] promises_1.2.0.1 glue_1.4.2 evaluate_0.14 rmarkdown_2.9
[29] stringi_1.6.2 compiler_4.1.0 pillar_1.6.1 httpuv_1.6.1
[33] renv_0.13.2 pkgconfig_2.0.3