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1 #!/usr/bin/env python |
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2 # 12.2 |
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3 |
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4 import os, sys |
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5 sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"] |
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6 |
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7 import pylab as pl |
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8 from xdync import xdync |
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9 from polyfuncs import polmul, poladd |
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10 |
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11 def gpc_col(A, dA, B, dB, C, dC, N, k, rho): |
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12 D, dD = pl.array([1, -1]), 1 |
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13 AD, dAD = pl.convolve(A, D), dA+1 |
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14 Nu = N+1 |
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15 zj, dzj = 1, 0 |
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16 G = pl.zeros((Nu, 1)) |
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17 H1 = pl.zeros((Nu, 2*k+N-2+dB)) |
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18 H2 = pl.zeros((Nu, k+N+dA)) |
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19 |
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20 for j in range(Nu): |
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21 zj = pl.convolve(zj, [0,1]) |
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22 dzj = dzj + 1 |
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23 Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4] |
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24 Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4] |
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25 Gj, dGj = polmul(Mj, dMj, Ej, dEj) |
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26 Gj, dGj = polmul(Gj, dGj, B, dB) |
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27 Pj, dPj = polmul(Mj, dMj, Fj, dFj) |
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28 Pj, dPj = poladd(Nj, dNj, Pj, dPj) |
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29 |
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30 m, n = G.shape |
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31 G = pl.column_stack((G, pl.zeros((m, j+1-n)))) |
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32 G[j, :j+1] = Gj[j::-1] |
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33 H1[j,:dGj-j] = Gj[j+1:dGj+1] |
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34 H2[j,:dPj+1] = Pj |
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35 |
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36 K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu,Nu)), G.T) |
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37 KH1 = pl.dot(K, H1) |
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38 KH2 = pl.dot(K, H2) |
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39 R1 = pl.concatenate(([1], KH1[0,:])) |
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40 dR1 = len(R1)-1 |
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41 Sc = KH2[0,:] |
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42 dSc = len(Sc)-1; |
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43 Tc = K[0,:] |
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44 dTc = len(Tc)-1; |
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45 |
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46 return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1 |