def _compute_auxiliary(self):
# self.K = pc.butterworth(3, self.omega[0])
self.K = my_K(self.omega[0], self.xi[0])
LOG.debug('sat_nested.__init__ omega: {} K:{} poles:{} '.format(self.omega[0], self.K, pc.poles(self.K)))
self.sats = np.array([self.sat_vel, self.sat_accel, self.sat_jerk])
LOG.debug(' sats:\n{}'.format(self.sats))
self.M = np.array(self.sats)
# pdb.set_trace()
for i in range(0, 3):
self.M[0:-1, i] *= self.K[1:]
for j in range(0, 2):
self.M[1 - j, i] /= np.prod(self.M[2 - j:, i])
LOG.debug(' M:\n{}'.format(self.M))
self.CM = np.cumprod(self.M[::-1], axis=0)[::-1]
LOG.debug(' CM:\n{}\n'.format(self.CM))
def _compute_auxiliary(self):
# self.K = pc.butterworth(2, self.omega[0])
omega, xi = self.omega[0], self.xi[0]
omega_d = omega * math.sqrt(1 - xi ** 2)
LOG.debug('omega_d: {}'.format(omega_d))
LOG.debug('-omega*xi: {}'.format(-omega * xi))
coefs = -np.poly([complex(-omega * xi, omega_d), complex(-omega * xi, -omega_d)])[::-1]
self.K = np.real(coefs[:-1])
LOG.debug('sat_nested.__init__ omega: {} coefs:{} K:{} poles:{} '.format(self.omega[0], coefs, self.K, pc.poles(self.K)))
self.sats = np.array([self.sat_vel, self.sat_accel])
LOG.debug(' sats:\n{}'.format(self.sats))
self.M = np.array(self.sats)
self.M[0] *= self.K[1]
self.M[0] /= np.prod(self.M[1:], axis=0)
LOG.debug(' M:\n{}'.format(self.M))
self.CM = np.cumprod(self.M[::-1], axis=0)[::-1]
LOG.debug(' CM:\n{}\n'.format(self.CM))
