funcs.py 文件源码

def nonlin_poly(self, u):
    """nonlin_poly

    ip2d.motortransfer_func legacy
    """
    # olimm1 = 0.5
    olim = 2
    # z = array([ 0.27924011,  0.12622341,  0.0330395,  -0.00490162])
    # z = array([ 0.00804775,  0.00223221, -0.1456263,  -0.04297434,  0.74612441,  0.26178644, -0.01953301, -0.00243736])
    # FIXME: somewhere there's a spearate script for generating the coeffs
    z = array([9.46569349e-04,  4.84698808e-03, -1.64436822e-02, -8.76479549e-02,  7.67630339e-02,  4.48107332e-01, -4.53365904e-03, -2.69288039e-04,  1.18423789e-15])
    p3 = poly1d(z)
    # print "pre", self.ip2d.u[ti]
    # self.ip2d.u[ti] = p3(tanh(self.ip2d.u[ti]) * self.olim)
    y = p3(tanh(u) * olim)
    return y