示例#1
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    def __init__(self, k=50.0, m=1.0, g=9.8, **kw):
        self.k = k
        self.m = m
        self.g = g
    
        self.dim = 2

        self.z = map(S, ['z0', 'z1'])
        self.p = map(S, ['p0', 'p1'])
        self.q = map(S, ['q0', 'q1'])
        self.x = map(S, ['x0', 'x1', 'x2', 'x3'])
        self.u = map(S, ['u0', 'u1'])

        self.Mq = np.eye(self.dim) * self.m
        self.Mqi = np.eye(self.dim) / self.m

        self.Vq = -self.m * self.g * self.q[1]
        
        # create Ohm and Psi
        self._Ohm = np.array([self.z[0], self.z[1] + sym.sin(self.z[0])])
        self._Psi = np.array([self.q[0], self.q[1] - sym.sin(self.q[0])])

        #self.controller = lambda t, x: [0, 0]
        
        super(SinFloor2D, self).__init__(si=1) 
示例#2
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    def __init__(self, k=50.0, m=1.0, g=9.8, **kw):
        self.k = k
        self.m = m
        self.g = g

        self.dim = 2

        self.z = map(S, ['z0', 'z1'])
        self.p = map(S, ['p0', 'p1'])
        self.q = map(S, ['q0', 'q1'])
        self.x = map(S, ['x0', 'x1', 'x2', 'x3'])
        self.u = map(S, ['u0', 'u1'])

        self.Mq = np.eye(self.dim) * self.m
        self.Mqi = np.eye(self.dim) / self.m

        self.Vq = -self.m * self.g * self.q[1]

        # create Ohm and Psi
        self._Ohm = np.array([self.z[0], self.z[1] + sym.sin(self.z[0])])
        self._Psi = np.array([self.q[0], self.q[1] - sym.sin(self.q[0])])

        #self.controller = lambda t, x: [0, 0]

        super(SinFloor2D, self).__init__(si=1)
示例#3
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    def __init__(self, k=50.0, m=1.0, g=9.8, **kw):
        self.k = k
        self.dim = 2

        self.z = map(S, ['z0', 'z1'])
        self.p = map(S, ['p0', 'p1'])
        self.q = map(S, ['q0', 'q1'])
        self.x = map(S, ['x0', 'x1', 'x2', 'x3'])
        self.u = map(S, ['u0', 'u1'])

        self.Mq = np.eye(self.dim) * m
        self.Mqi = np.eye(self.dim) / m

        self.Vq = -m * g * self.q[1]
        
        # create Ohm and Psi
        self._Ohm = self.z
        self._Psi = self.q
        
        super(FlatFloor2D, self).__init__(si=1) 
示例#4
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    def __init__(self, k=50.0, m=1.0, g=9.8, **kw):
        self.k = k
        self.dim = 2

        self.z = map(S, ['z0', 'z1'])
        self.p = map(S, ['p0', 'p1'])
        self.q = map(S, ['q0', 'q1'])
        self.x = map(S, ['x0', 'x1', 'x2', 'x3'])
        self.u = map(S, ['u0', 'u1'])

        self.Mq = np.eye(self.dim) * m
        self.Mqi = np.eye(self.dim) / m

        self.Vq = -m * g * self.q[1]

        # create Ohm and Psi
        self._Ohm = self.z
        self._Psi = self.q

        super(FlatFloor2D, self).__init__(si=1)
示例#5
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    def _delf(self, t, xval, uval):
        # calculates the jump term assuming the field switches
        # between fplus and fminus at (t, x)
        params = np.concatenate(([t], xval, uval))
        
        fp = self._fplus.func(*params)
        fm = self._fmins.func(*params)
        dphi = self.dphi(xval)
        
        # this assumes x = [z, zdot]
        M = tn.eval(self.Mz, self.z, xval[:self.dim])
        M = scipy.linalg.block_diag(M, np.eye(self.dim))
        #dphi = matmult(M, dphi)

        out = -np.outer(fp-fm, dphi)/np.abs(np.inner(fp, dphi))
        
        #Tracer()()
        #out = np.zeros((2*self.dim, 2*self.dim))
        #for i in range(self.dim):
        #    out[self.si, i] = -M[self.si, i]
        return out