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java.lang.Objectca.nengo.dynamics.impl.LTISystem
public class LTISystem
A linear time-invariant dynamical system model in state-space form. Such a system can be defined in terms of the four matrices that must be provided in the constructor. TODO: test
Constructor Summary | |
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LTISystem(float[][] A,
float[][] B,
float[][] C,
float[][] D,
float[] x0,
Units[] outputUnits)
Each argument is an array of arrays that represents a matrix. |
Method Summary | |
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DynamicalSystem |
clone()
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float[] |
f(float t,
float[] u)
The dynamic equation. |
float[] |
g(float t,
float[] u)
The output equation. |
float[][] |
getA()
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float[][] |
getA(float t)
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float[][] |
getB()
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float[][] |
getB(float t)
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float[][] |
getC()
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float[][] |
getC(float t)
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float[][] |
getD()
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float[][] |
getD(float t)
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int |
getInputDimension()
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int |
getOutputDimension()
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Units |
getOutputUnits(int outputDimension)
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float[] |
getState()
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int |
getStateDimension()
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void |
setA(float[][] newA)
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void |
setB(float[][] newB)
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void |
setC(float[][] newC)
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void |
setD(float[][] newD)
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void |
setInputDimension(int dim)
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void |
setOutputDimension(int dim)
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void |
setOutputUnits(int outputDimension,
Units units)
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void |
setState(float[] state)
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void |
setStateDimension(int dim)
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Methods inherited from class java.lang.Object |
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equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public LTISystem(float[][] A, float[][] B, float[][] C, float[][] D, float[] x0, Units[] outputUnits)
A
- Dynamics matrixB
- Input matrixC
- Output matrixD
- Passthrough matrixx0
- Initial stateoutputUnits
- Units in which each dimension of the output are expressedMethod Detail |
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public float[] f(float t, float[] u)
DynamicalSystem
f
in interface DynamicalSystem
t
- Timeu
- Input vector
DynamicalSystem.f(float, float[])
public float[] g(float t, float[] u)
DynamicalSystem
g
in interface DynamicalSystem
t
- Timeu
- Input vector
DynamicalSystem.g(float, float[])
public float[] getState()
getState
in interface DynamicalSystem
DynamicalSystem.getState()
public void setState(float[] state)
setState
in interface DynamicalSystem
state
- New state vectorDynamicalSystem.setState(float[])
public int getInputDimension()
getInputDimension
in interface DynamicalSystem
DynamicalSystem.getInputDimension()
public void setInputDimension(int dim)
dim
- Input dimensionality. Affects B and D.public int getOutputDimension()
getOutputDimension
in interface DynamicalSystem
DynamicalSystem.getOutputDimension()
public void setOutputDimension(int dim)
dim
- Output dimensionality. Affects C and D.public int getStateDimension()
public void setStateDimension(int dim)
dim
- State (x) dimensionalitypublic Units getOutputUnits(int outputDimension)
getOutputUnits
in interface DynamicalSystem
outputDimension
- Numbered from 0
DynamicalSystem.getOutputUnits(int)
public void setOutputUnits(int outputDimension, Units units)
outputDimension
- dimensionality of outputunits
- Units to work inpublic float[][] getA(float t)
getA
in interface LinearSystem
t
- Simulation time
LinearSystem.getA(float)
public float[][] getA()
public void setA(float[][] newA)
newA
- New dynamics matrixpublic float[][] getB(float t)
getB
in interface LinearSystem
t
- Simulation time
LinearSystem.getB(float)
public float[][] getB()
public void setB(float[][] newB)
newB
- New input matrixpublic float[][] getC(float t)
getC
in interface LinearSystem
t
- Simulation time
LinearSystem.getC(float)
public float[][] getC()
public void setC(float[][] newC)
newC
- New output matrixpublic float[][] getD(float t)
getD
in interface LinearSystem
t
- Simulation time
LinearSystem.getD(float)
public float[][] getD()
public void setD(float[][] newD)
newD
- New passthrough matrixpublic DynamicalSystem clone() throws java.lang.CloneNotSupportedException
clone
in interface DynamicalSystem
clone
in class java.lang.Object
java.lang.CloneNotSupportedException
- if something causes clone not to workDynamicalSystem.clone()
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