Car test bench

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Name

Mode

Matrix size

Datatype

Stateful

data Smoother = Smoother
  { smootherAlpha :: Double
  , smootherValue :: Double
  } deriving (Read, Show, Eq)

data StatefulCar = StatefulCar
  { preSmoothers :: [Smoother]
  , postSmoothers :: [Smoother]
  , previousSmoothedInput :: Maybe Double
  , unStateful :: WheelCar
  } deriving (Read, Show, Eq)

initialState :: StatefulCar
initialState = StatefulCar [Smoother 0.35 0, Smoother 0.2 0] [Smoother 0.5 0, Smoother 0.25 0] Nothing (WheelCar 0 0)

stepSmoother :: Double -> Smoother -> (Smoother, Double)
stepSmoother input (Smoother alpha old) =
  let value = old + alpha * (input - old)
  in (Smoother alpha value, value)

runSmootherStack :: [Smoother] -> Double -> ([Smoother], Double)
runSmootherStack [] value = ([], value)
runSmootherStack (smoother:rest) value =
  let (smoother', value') = stepSmoother value smoother
      (rest', output) = runSmootherStack rest value'
  in (smoother' : rest', output)

stepState :: Double -> StatefulCar -> StatefulCar
stepState accel (StatefulCar preStack postStack previous (WheelCar p v)) =
  let (preStack', smoothedInput) = runSmootherStack preStack accel
      gradient = case previous of
        Nothing -> 0
        Just old -> smoothedInput - old
      (postStack', smoothedGradient) = runSmootherStack postStack gradient
      v' = v + smoothedGradient
  in StatefulCar preStack' postStack' (Just smoothedInput) (WheelCar (p + v') v')

getWheelCar :: StatefulCar -> WheelCar
getWheelCar = unStateful

Parametric

Parameters