control.flatsys.SystemTrajectory¶
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class
control.flatsys.
SystemTrajectory
(sys, basis, coeffs=[], flaglen=[])¶ Class representing a system trajectory.
The SystemTrajectory class is used to represent the trajectory of a (differentially flat) system. Used by the
point_to_point()
function to return a trajectory.-
__init__
(sys, basis, coeffs=[], flaglen=[])¶ Initilize a system trajectory object.
- Parameters
sys (FlatSystem) – Flat system object associated with this trajectory.
basis (BasisFamily) – Family of basis vectors to use to represent the trajectory.
coeffs (list of 1D arrays, optional) – For each flat output, define the coefficients of the basis functions used to represent the trajectory. Defaults to an empty list.
flaglen (list of ints, optional) – For each flat output, the number of derivatives of the flat output used to define the trajectory. Defaults to an empty list.
Methods
__init__
(sys, basis[, coeffs, flaglen])Initilize a system trajectory object.
eval
(tlist)Return the state and input for a trajectory at a list of times.
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eval
(tlist)¶ Return the state and input for a trajectory at a list of times.
Evaluate the trajectory at a list of time points, returning the state and input vectors for the trajectory:
x, u = traj.eval(tlist)
- Parameters
tlist (1D array) – List of times to evaluate the trajectory.
- Returns
x (2D array) – For each state, the values of the state at the given times.
u (2D array) – For each input, the values of the input at the given times.
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