generic_simulation_modules.py 文件源码

def __init__(self, settings):
        Trajectory.__init__(self, settings)

        # calculate symbolic derivatives up to order n
        t, a, f, off, p = sp.symbols("t, a, f, off, p")
        self.yd_sym = []
        harmonic = a * sp.sin(2 * sp.pi * f * t + p) + off

        for idx in range(settings["differential_order"] + 1):
            self.yd_sym.append(harmonic.diff(t, idx))

        # lambdify
        for idx, val in enumerate(self.yd_sym):
            self.yd_sym[idx] = sp.lambdify((t, a, f, off, p), val, "numpy")