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#!/usr/bin/env python
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# 12.2
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import os, sys
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sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
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import pylab as pl
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from xdync import xdync
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from polyfuncs import polmul
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def gpc_N(A, dA, B, dB, k, N1, N2, Nu, rho):
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D, dD = pl.array([1, -1]), 1
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AD, dAD = pl.convolve(A, D), dA+1
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zj, dzj = 1, 0
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for i in range(N1+k-1):
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zj = sp.convolve(zj, [0,1])
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dzj += 1
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G = pl.zeros((N2-N1+1, Nu+1))
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H1 = pl.zeros((N2-N1+1, k-1+dB))
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H2 = pl.zeros((N2-N1+1, dA+1))
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for j in range(k+N1, k+N2+1):
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zj = pl.convolve(zj, [0,1])
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dzj = dzj + 1
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Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, 1, 0)[:4]
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Gj, dGj = polmul(B, dB, Ej, dEj)
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if j-k >= Nu:
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G[j-(k+N1),:Nu+1] = Gj[range(j-k, j-k-Nu-1, -1)]
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else:
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G[j-(k+N1),:j-k+1] = Gj[j-k::-1]
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H1[j-(k+N1),:k-1+dB] = Gj[j-k+1:j+dB]
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H2[j-(k+N1),:dA+1] = Fj
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K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu+1, Nu+1)), G.T)
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KH1 = pl.dot(K, H1)
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KH2 = pl.dot(K, H2)
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R1 = pl.concatenate(([1], KH1[0,:]))
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dR1 = len(R1)-1
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Sc = KH2[0,:]
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dSc = len(Sc)-1;
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Tc = K[0,:]
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dTc = len(Tc)-1;
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return K,KH1,KH2,Tc,dTc,Sc,dSc,R1,dR1
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