def input(self, input_):
if input_ is None: # or other checks?
input_ = empty_array()
if isinstance(input_, sp.Expr): # check it's a single dynamicsymbol?
input_ = Array([input_])
self.dim_input = len(input_)
self._inputs = input_
def state(self, state):
if state is None: # or other checks?
state = empty_array()
if isinstance(state, sp.Expr):
state = Array([state])
self.dim_state = len(state)
self._state = state
def state(self, state):
if state is None: # or other checks?
state = empty_array()
else:
raise ValueError("Memoryless system should not have state or " +
"state_equation")
self.dim_state = len(state)
self._state = state
def update_state_jacobian_function(self):
if not self.dim_state or self.state_equation == empty_array():
return
self.state_jacobian_equation_function = self.code_generator(
[dynamicsymbols._t] + sp.flatten(self.state) +
sp.flatten(self.input),
self.state_jacobian_equation.subs(self.constants_values),
**self.code_generator_args)
def update_input_jacobian_function(self):
# TODO: state-less systems should have an input/output jacobian
if not self.dim_state or self.state_equation == empty_array():
return
self.input_jacobian_equation_function = self.code_generator(
[dynamicsymbols._t] + sp.flatten(self.state) +
sp.flatten(self.input),
self.input_jacobian_equation.subs(self.constants_values),
**self.code_generator_args)
def update_output_equation_function(self):
if not self.dim_output or self.output_equation == empty_array():
return
if self.dim_state:
self.output_equation_function = self.code_generator(
[dynamicsymbols._t] + sp.flatten(self.state),
self.output_equation.subs(self.constants_values),
**self.code_generator_args)
else:
self.output_equation_function = self.code_generator(
[dynamicsymbols._t] + sp.flatten(self.input),
self.output_equation.subs(self.constants_values),
**self.code_generator_args)
def state_equation(self, state_equation):
if state_equation is None: # or other checks?
state_equation = empty_array()
else:
assert len(state_equation) == len(self.state)
assert find_dynamicsymbols(state_equation) <= (set(self.state)
| set(self.input))
assert state_equation.atoms(
sp.Symbol) <= (set(self.constants_values.keys())
| set([dynamicsymbols._t]))
self._state_equation = state_equation
self.update_state_equation_function()
self.state_jacobian_equation = grad(self.state_equation, self.state)
self.update_state_jacobian_function()
self.input_jacobian_equation = grad(self.state_equation, self.input)
self.update_input_jacobian_function()
def output_equation(self, output_equation):
if isinstance(output_equation, sp.Expr):
output_equation = Array([output_equation])
if output_equation is None and self.dim_state == 0:
output_equation = empty_array()
else:
if output_equation is None:
output_equation = self.state
assert output_equation.atoms(
sp.Symbol) <= (set(self.constants_values.keys())
| set([dynamicsymbols._t]))
if self.dim_state:
assert find_dynamicsymbols(output_equation) <= set(self.state)
else:
assert find_dynamicsymbols(output_equation) <= set(self.input)
self.dim_output = len(output_equation)
self._output_equation = output_equation
self.update_output_equation_function()
