us.ihmc.utilities.linearDynamicSystems
Class TransferFunction
java.lang.Object
us.ihmc.utilities.linearDynamicSystems.TransferFunction
public class TransferFunction
- extends java.lang.Object
TransferFunction.
Important rep invariant: The numerator and denominator will be scaled so that the highest order in the denominator is always 1.0.
For example (30s + 15)/(3s + 6) will be scaled to (10s + 5)/(s + 2)
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
TransferFunction
public TransferFunction(double[] numerator,
double[] denominator)
TransferFunction
public TransferFunction(Polynomial numeratorPolynomial,
Polynomial denominatorPolynomial)
constructSecondOrderTransferFunction
public static TransferFunction constructSecondOrderTransferFunction(double zeroFreqMagnitude,
double wn,
double zeta)
constructZeroTransferFunction
public static TransferFunction constructZeroTransferFunction()
evaluate
public ComplexNumber evaluate(ComplexNumber complexNumber)
getMagnitude
public double getMagnitude(double omega)
getPhase
public double getPhase(double omega)
getMagnitude
public double[] getMagnitude(double[] omega)
getPhase
public double[] getPhase(double[] omega)
getNumeratorCoefficients
public double[] getNumeratorCoefficients()
getDenominatorCoefficients
public double[] getDenominatorCoefficients()
getNumeratorPolynomial
public Polynomial getNumeratorPolynomial()
getDenominatorPolynomial
public Polynomial getDenominatorPolynomial()
plus
public TransferFunction plus(double d)
times
public TransferFunction times(double d)
plus
public TransferFunction plus(TransferFunction transferFunction)
equalsZero
public boolean equalsZero()
times
public TransferFunction times(TransferFunction transferFunction)
epsilonEquals
public boolean epsilonEquals(TransferFunction transferFunction,
double epsilon)
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object