us.ihmc.utilities.linearDynamicSystems
Class LinearDynamicSystem

java.lang.Object
  extended by 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)
           
 
Method Summary
 LinearDynamicSystem addFullStateFeedback(com.mathworks.jama.Matrix matrixK)
           
 LinearDynamicSystem addOutputStateFeedback(com.mathworks.jama.Matrix matrixK)
           
 LinearDynamicSystem addOutputStateFeedback(com.mathworks.jama.Matrix matrixK, com.mathworks.jama.Matrix matrixFF)
           
 com.mathworks.jama.Matrix getMatrixA()
           
 com.mathworks.jama.Matrix getMatrixB()
           
 com.mathworks.jama.Matrix getMatrixC()
           
 com.mathworks.jama.Matrix getMatrixD()
           
 TransferFunctionMatrix getTransferFunctionMatrix()
           
 void setMatrixB(com.mathworks.jama.Matrix matrixB)
           
 void setMatrixC(com.mathworks.jama.Matrix matrixC)
           
 void setMatrixD(com.mathworks.jama.Matrix matrixD)
           
 double[][] simulateInitialConditions(double[] initialConditions, double stepSize, int numTicks)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

LinearDynamicSystem

public LinearDynamicSystem(com.mathworks.jama.Matrix matrixA,
                           com.mathworks.jama.Matrix matrixB,
                           com.mathworks.jama.Matrix matrixC,
                           com.mathworks.jama.Matrix matrixD)
Method Detail

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)