Merge pull request #12 from nasa/develop

Release 1.0.1

Changes include:
* Bugfix with structure of InputEqn to make Battery Models interchangeable 
* Defined x0Variance in Model

MATLAB/+BatteryCircuit/InputEqn.m

@@ -1,4 +1,4 @@
-function U = InputEqn(parameters,t,u)
+function U = InputEqn(parameters,t,inputParameters)
 % InputEqn   Compute battery inputs for the given time and input parameters
 %
 %   U = InputEqn(parameters,t,inputParameters) computes the inputs to the
@@ -31,15 +31,18 @@
     % If u specified, interpret as variable loading scheme, where u is a
     % vector with an even number of elements. The first of the pair of
     % numbers is the magnitude of the load, the second is the duration.
-    loads = u(1:2:end);
-    durations = u(2:2:end);
-    times = [0 cumsum(durations)];
-    % Find which load corresponds to given time
-    loadIndex = find(t>=times,1,'last');
-    if loadIndex>length(loads)
-        current = loads(end);
-    else
-        current = loads(loadIndex);
+    for ii = 1:size(inputParameters,2)
+        u = inputParameters(:,ii);
+        loads = u(1:2:end);
+        durations = u(2:2:end);
+        times = [0; cumsum(durations)];
+        % Find which load corresponds to given time
+        loadIndex = find(t>=times,1,'last');
+        if loadIndex>length(loads)
+            current(ii) = loads(end);
+        else
+            current(ii) = loads(loadIndex);
+        end
     end
 end
 

MATLAB/+BatteryCircuit/test.m

@@ -23,7 +23,7 @@
 % Simulate for a variable load profile
 % Specified by a sequence of pairs of numbers, where the first is the load
 % (in Watts) and the second is the duration (in seconds).
-loads = [2 10*60 1 5*60 4 15*60 2 20*60 3 10*60];
+loads = [2; 10*60; 1; 5*60; 4; 15*60; 2; 20*60; 3; 10*60];
 battery.inputEqnHandle = @(P,t)BatteryCircuit.InputEqn(P,t,loads);
 [T,X,U,Z] = battery.simulate(3000,'printTime',60);
 

MATLAB/+Model/Model.m

@@ -60,6 +60,7 @@
 
         V;                    % Process noise variances (vector)
         N;                    % Sensor noise variances for current sensor set (vector)
+        x0Variance;           % Initial states variance (vector) 
         P;                    % Static parameters structure
 
         indices;  % Structure to get indices of states, inputs, outputs by name
@@ -130,6 +131,15 @@
                 M.N(i,1) = M.outputs(i).Noise;
             end
 
+            % Set up initial states variances vector
+            for i=1:length(M.states)
+                if isfield(M.states(i),'x0Variance')
+                    M.x0Variance(i,1) = M.states(i).x0Variance;
+                else
+                    M.x0Variance(i,1)=  M.states(i).Noise;
+                end
+            end
+
             % Setup indices structure
             M.setIndices();
         end