# simAnimation = Animation() # Instantiate Animate class
ctrl = controllerSS()
dynam = Dynamics() # Instantiate Dynamics class
t = t_start # Declare time variable to keep track of simulation time elapsed
while t < t_end:
ref_input = sig_gen.getRefInputs(t)
# The dynamics of the model will be propagated in time by t_elapse
# at intervals of t_Ts.
t_temp = t + t_elapse
while t < t_temp:
states = dynam.States() # Get current states
u = ctrl.getForces(ref_input, states) # Calculate the forces
xhat = ctrl.getObsStates() # Get xhat
dynam.propagateDynamics(
u) # Propagate the dynamics of the model in time
t = round(t + t_Ts, 2) # Update time elapsed
# plt.figure(simAnimation.fig.number) # Switch current figure to animation figure
# simAnimation.drawSystem( # Update animation with current user input
# dynam.Outputs())
# plt.pause(0.0001)
# Organizes the new data to be passed to plotGen
new_data = [[ref_input[0], states[0], xhat[0][0]],
[states[0] - xhat[0][0]], [states[2], xhat[2][0]],
[states[2] - xhat[2][0]], [states[1], xhat[1][0]],
