discontinuities.py 文件源码

def state_update_equation(self, state_update_equation):
        if state_update_equation is None:
            if self.dim_state > 0:
                state_update_equation = self.state
            else:
                state_update_equation = self.input
        assert state_update_equation.atoms(sp.Symbol) <= set(
            self.constants_values.keys()) | set([dynamicsymbols._t])
        self._state_update_equation = state_update_equation
        if self.dim_state:
            assert find_dynamicsymbols(state_update_equation) <= \
                set(self.state)
            self.state_update_equation_function = self.code_generator(
                    [dynamicsymbols._t] + sp.flatten(self.state),
                    self._state_update_equation.subs(self.constants_values),
                    **self.code_generator_args
            )
        else:
            assert find_dynamicsymbols(state_update_equation) <= \
                set(self.input)
            self.state_update_equation_function = self.code_generator(
                    [dynamicsymbols._t] + sp.flatten(self.input),
                    self._state_update_equation.subs(self.constants_values),
                    **self.code_generator_args
            )