us.ihmc.utilities.linearDynamicSystems
Class TransferFunction

java.lang.Object
  extended by 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)


Constructor Summary
TransferFunction(double[] numerator, double[] denominator)
           
TransferFunction(Polynomial numeratorPolynomial, Polynomial denominatorPolynomial)
           
 
Method Summary
static TransferFunction constructSecondOrderTransferFunction(double zeroFreqMagnitude, double wn, double zeta)
           
static TransferFunction constructZeroTransferFunction()
           
 boolean epsilonEquals(TransferFunction transferFunction, double epsilon)
           
 boolean equalsZero()
           
 ComplexNumber evaluate(ComplexNumber complexNumber)
           
 double[] getDenominatorCoefficients()
           
 Polynomial getDenominatorPolynomial()
           
 double getMagnitude(double omega)
           
 double[] getMagnitude(double[] omega)
           
 double[] getNumeratorCoefficients()
           
 Polynomial getNumeratorPolynomial()
           
 double getPhase(double omega)
           
 double[] getPhase(double[] omega)
           
 TransferFunction plus(double d)
           
 TransferFunction plus(TransferFunction transferFunction)
           
 TransferFunction times(double d)
           
 TransferFunction times(TransferFunction transferFunction)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

TransferFunction

public TransferFunction(double[] numerator,
                        double[] denominator)

TransferFunction

public TransferFunction(Polynomial numeratorPolynomial,
                        Polynomial denominatorPolynomial)
Method Detail

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