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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 contructor. 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()
|
float[] |
f(float t,
float[] u)
The dynamic equation. |
float[] |
g(float t,
float[] u)
The output equation. |
float[][] |
getA()
|
float[][] |
getA(float t)
|
float[][] |
getB()
|
float[][] |
getB(float t)
|
float[][] |
getC()
|
float[][] |
getC(float t)
|
float[][] |
getD()
|
float[][] |
getD(float t)
|
int |
getInputDimension()
|
int |
getOutputDimension()
|
Units |
getOutputUnits(int outputDimension)
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float[] |
getState()
|
int |
getStateDimension()
|
void |
setA(float[][] newA)
|
void |
setB(float[][] newB)
|
void |
setC(float[][] newC)
|
void |
setD(float[][] newD)
|
void |
setInputDimension(int dim)
|
void |
setOutputDimension(int dim)
|
void |
setOutputUnits(int outputDimension,
Units units)
|
void |
setState(float[] state)
|
void |
setStateDimension(int dim)
|
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)
public int getOutputDimension()
getOutputDimension
in interface DynamicalSystem
DynamicalSystem.getOutputDimension()
public void setOutputDimension(int dim)
public int getStateDimension()
public void setStateDimension(int dim)
public Units getOutputUnits(int outputDimension)
getOutputUnits
in interface DynamicalSystem
outputDimension
- Numbered from 0
DynamicalSystem.getOutputUnits(int)
public void setOutputUnits(int outputDimension, Units units)
public float[][] getA(float t)
getA
in interface LinearSystem
t
- Simulation time
LinearSystem.getA(float)
public float[][] getA()
public void setA(float[][] newA)
public float[][] getB(float t)
getB
in interface LinearSystem
t
- Simulation time
LinearSystem.getB(float)
public float[][] getB()
public void setB(float[][] newB)
public float[][] getC(float t)
getC
in interface LinearSystem
t
- Simulation time
LinearSystem.getC(float)
public float[][] getC()
public void setC(float[][] newC)
public float[][] getD(float t)
getD
in interface LinearSystem
t
- Simulation time
LinearSystem.getD(float)
public float[][] getD()
public void setD(float[][] newD)
public DynamicalSystem clone() throws java.lang.CloneNotSupportedException
clone
in interface DynamicalSystem
clone
in class java.lang.Object
java.lang.CloneNotSupportedException
DynamicalSystem.clone()
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