Class LinearSystem<States extends Num,​Inputs extends Num,​Outputs extends Num>

java.lang.Object
edu.wpi.first.wpilibj.system.LinearSystem<States,​Inputs,​Outputs>

public class LinearSystem<States extends Num,​Inputs extends Num,​Outputs extends Num>
extends Object
  • Constructor Details

  • Method Details

    • getA

      public Matrix<States,​States> getA()
      Returns the system matrix A.
      Returns:
      the system matrix A.
    • getA

      public double getA​(int row, int col)
      Returns an element of the system matrix A.
      Parameters:
      row - Row of A.
      col - Column of A.
      Returns:
      the system matrix A at (i, j).
    • getB

      public Matrix<States,​Inputs> getB()
      Returns the input matrix B.
      Returns:
      the input matrix B.
    • getB

      public double getB​(int row, int col)
      Returns an element of the input matrix B.
      Parameters:
      row - Row of B.
      col - Column of B.
      Returns:
      The value of the input matrix B at (i, j).
    • getC

      public Matrix<Outputs,​States> getC()
      Returns the output matrix C.
      Returns:
      Output matrix C.
    • getC

      public double getC​(int row, int col)
      Returns an element of the output matrix C.
      Parameters:
      row - Row of C.
      col - Column of C.
      Returns:
      the double value of C at the given position.
    • getD

      public Matrix<Outputs,​Inputs> getD()
      Returns the feedthrough matrix D.
      Returns:
      the feedthrough matrix D.
    • getD

      public double getD​(int row, int col)
      Returns an element of the feedthrough matrix D.
      Parameters:
      row - Row of D.
      col - Column of D.
      Returns:
      The feedthrough matrix D at (i, j).
    • calculateX

      public Matrix<States,​N1> calculateX​(Matrix<States,​N1> x, Matrix<Inputs,​N1> clampedU, double dtSeconds)
      Computes the new x given the old x and the control input.

      This is used by state observers directly to run updates based on state estimate.

      Parameters:
      x - The current state.
      clampedU - The control input.
      dtSeconds - Timestep for model update.
      Returns:
      the updated x.
    • calculateY

      public Matrix<Outputs,​N1> calculateY​(Matrix<States,​N1> x, Matrix<Inputs,​N1> clampedU)
      Computes the new y given the control input.

      This is used by state observers directly to run updates based on state estimate.

      Parameters:
      x - The current state.
      clampedU - The control input.
      Returns:
      the updated output matrix Y.
    • toString

      public String toString()
      Overrides:
      toString in class Object