us.ihmc.utilities.linearDynamicSystems
Class LinearDynamicSystem
java.lang.Object
us.ihmc.utilities.linearDynamicSystems.LinearDynamicSystem
public class LinearDynamicSystem
- extends java.lang.Object
Constructor Summary |
LinearDynamicSystem(com.mathworks.jama.Matrix matrixA,
com.mathworks.jama.Matrix matrixB,
com.mathworks.jama.Matrix matrixC,
com.mathworks.jama.Matrix matrixD)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
LinearDynamicSystem
public LinearDynamicSystem(com.mathworks.jama.Matrix matrixA,
com.mathworks.jama.Matrix matrixB,
com.mathworks.jama.Matrix matrixC,
com.mathworks.jama.Matrix matrixD)
getMatrixA
public com.mathworks.jama.Matrix getMatrixA()
getMatrixB
public com.mathworks.jama.Matrix getMatrixB()
getMatrixC
public com.mathworks.jama.Matrix getMatrixC()
getMatrixD
public com.mathworks.jama.Matrix getMatrixD()
addFullStateFeedback
public LinearDynamicSystem addFullStateFeedback(com.mathworks.jama.Matrix matrixK)
addOutputStateFeedback
public LinearDynamicSystem addOutputStateFeedback(com.mathworks.jama.Matrix matrixK)
addOutputStateFeedback
public LinearDynamicSystem addOutputStateFeedback(com.mathworks.jama.Matrix matrixK,
com.mathworks.jama.Matrix matrixFF)
getTransferFunctionMatrix
public TransferFunctionMatrix getTransferFunctionMatrix()
setMatrixB
public void setMatrixB(com.mathworks.jama.Matrix matrixB)
setMatrixC
public void setMatrixC(com.mathworks.jama.Matrix matrixC)
setMatrixD
public void setMatrixD(com.mathworks.jama.Matrix matrixD)
simulateInitialConditions
public double[][] simulateInitialConditions(double[] initialConditions,
double stepSize,
int numTicks)