observer.py 文件源码

def __init__(self, settings):
        settings.update(output_dim=4)
        super().__init__(settings)

        self.a_mat, self.b_mat, self.c_mat = linearise_system(
            self._settings["steady state"],
            self._settings["steady tau"])
        self.L = pm.place_siso(self.a_mat.T,
                               self.c_mat.T,
                               self._settings["poles"]).T
        self.step_width = self._settings["tick divider"] * self._settings["step width"]
        self.output = np.array(self._settings["initial state"], dtype=float)

        self.solver = ode(self.linear_state_function)
        self.solver.set_integrator("dopri5",
                                   method=self._settings["Method"],
                                   rtol=self._settings["rTol"],
                                   atol=self._settings["aTol"])
        self.solver.set_initial_value(self._settings["initial state"])
        self.nextObserver_output = self.output