/home/jgoppert/Projects/uvsim/uvsim/src/test/discretize.cc

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#include "uvsim/utilities/utilities.h"
#include "boost/numeric/ublas/matrix.hpp"
#include "boost/numeric/ublas/matrix_proxy.hpp"
#include "boost/numeric/ublas/io.hpp"
#include <iomanip>
#include <iostream>
#include <cmath>
#include <cstdlib>

using  namespace boost::numeric::ublas;


int main (int argc, char const* argv[])
{
        
        // Matrix Definition
        matrix<double> Ac, Bc, Ad, Bd ;
        double m=1573;
        double lf=1.1;
        double lr=1.58;
        double Iz=2873;
        double C_alphaR=80000;
        double C_alphaF=80000;
        double Vx=30;
        double R=1000;
        double g=9.81;
        
        
        Ac = zero_matrix<double>(4,4) ;
        Ac(0,1) = 1;
        Ac(1,1) = (-2*C_alphaF+2*C_alphaR)/(m*Vx);
        Ac(1,2) = (2*C_alphaF+2*C_alphaR)/(m);
        Ac(1,3) = (-2*C_alphaF*lf+2*C_alphaR*lr)/(m*Vx);
        Ac(2,2) = 1;
    Ac(3,1) = (-2*C_alphaF*lf-2*C_alphaR*lr)/(Iz*Vx);
        Ac(3,2) = (2*C_alphaF*lf-2*C_alphaR*lr)/(Iz);
        Ac(3,3) = (pow(-2*C_alphaF*lf,2)+pow(2*C_alphaR*lr,2))/(Iz*Vx);
        Bc = zero_matrix<double>(4,3);
        Bc(1,0) = (2*C_alphaF)/m;
        Bc(1,1) = (((-2*C_alphaF*lf+2*C_alphaR*lr)/(m*Vx))-Vx);
        Bc(1,2) = g;
        Bc(3,0) = (2*C_alphaF*lf)/Iz;
        Bc(3,1) = (pow(-2*C_alphaF*lf,2)+pow(2*C_alphaR*lr,2))/(Iz*Vx);

        //Initialize discrete matrices to zero
        Ad = zero_matrix<double>(Ac.size1(), Ac.size2());       
        Bd = zero_matrix<double>(Bc.size1(),Bc.size2());
        

        uvsim::discretize(Ac, Bc, Ad, Bd, atof(argv[1]), atoi(argv[2]));

        std::cout<<std::setprecision(10);
        std::cout<<"Ac- "<<Ac<<std::endl;
        std::cout<<"Bc- "<<Bc<<std::endl;
        std::cout<<"Ad- "<<Ad<<std::endl;
        std::cout<<"Bd- "<<Bd<<std::endl;
        return 0;
}

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