def __init__(self, t, u, show_plot=False):
SimulationInput.__init__(self)
self._t = t
self._T = t[-1]
self._u = u
self.scale = 1
if show_plot:
pw = pg.plot(title="InterpTrajectory")
pw.plot(self._t, self.__call__(time=self._t))
pw.plot([0, self._T], self.__call__(time=[0, self._T]), pen=None, symbolPen=pg.mkPen("g"))
pg.QtGui.QApplication.instance().exec_()
def __init__(self, y0, y1, z0, z1, t0, dt, params):
SimulationInput.__init__(self)
# store params
self._tA = t0
self._dt = dt
self._dz = z1 - z0
self._m = params.m # []=kg mass at z=0
self._tau = params.tau # []=m/s speed of wave translation in string
self._sigma = params.sigma # []=kgm/s**2 pretension of string
# construct trajectory generator for yd
ts = max(t0, self._dz * self._tau) # never too early
self.trajectory_gen = SmoothTransition((y0, y1), (ts, ts + dt), 2)
# create vectorized functions
self.control_input = np.vectorize(self._control_input, otypes=[np.float])
self.system_state = np.vectorize(self._system_sate, otypes=[np.float])
def __init__(self, const=0):
SimulationInput.__init__(self)
self._const = const
