processing_core.py 文件源码

def calc_l1_norm_itae(meas_values, desired_values, step_width):
        """
        Calculate the L1-Norm of the ITAE (Integral of Time-multiplied Absolute
        value of Error).

        Args:
            step_width (float): Time difference between measurements.
            desired_values (array-like): Desired values.
            meas_values (array-like): Measured values.
        """
        def e_func(_t):
            _idx = np.floor_divide(_t, step_width).astype(int)
            e = t * np.abs(desired_values[_idx, ..., 0]
                           - meas_values[_idx, ..., 0])
            return e

        t = np.array([x * step_width for x in range(len(desired_values))])
        err = e_func(t)
        l1norm_itae = simps(err, t)
        return l1norm_itae