sim.py 文件源码

def __initialize_simulation(self, x0, time_points, udata, \
        integrator_options_user):

        self.__x0 = inputchecks.check_states_data(x0, self.__system.nx, 0)

        time_points = inputchecks.check_time_points_input(time_points)
        number_of_integration_steps = time_points.size - 1
        time_steps = time_points[1:] - time_points[:-1]

        udata = inputchecks.check_controls_data(udata, self.__system.nu, \
            number_of_integration_steps)

        self.__simulation_input = ci.vertcat([np.atleast_2d(time_steps), udata])

        integrator_options = integrator_options_user.copy()
        integrator_options.update({"t0": 0, "tf": 1, "expand": True}) # ,  "number_of_finite_elements": 1})
        # integrator = ci.Integrator("integrator", "rk", \
        integrator = ci.Integrator("integrator", "cvodes", \
            self.__dae_scaled, integrator_options)

        self.__simulation = integrator.mapaccum("simulation", \
            number_of_integration_steps)