test_trajectory.py 文件源码

def test_temporal_derive(self):

        b_desired = 0.4
        k = 5 # = k1 + k2
        k1, k2, b = ut.split_domain(k, b_desired, self.l, mode='coprime')[0:3]
        # q
        E = tr.coefficient_recursion(self.y, self.beta*self.y, self.param)
        q = tr.temporal_derived_power_series(self.l-b, E, int(self.n_y/2)-1, self.n_y)
        # u
        B = tr.coefficient_recursion(self.y, self.alpha*self.y, self.param)
        xq = tr.temporal_derived_power_series(self.l, B, int(self.n_y/2)-1, self.n_y, spatial_der_order=0)
        d_xq = tr.temporal_derived_power_series(self.l, B, int(self.n_y/2)-1, self.n_y, spatial_der_order=1)
        u = d_xq + self.beta*xq
        # x(0,t)
        C = tr.coefficient_recursion(q, self.beta*q, self.param)
        D = tr.coefficient_recursion(np.zeros(u.shape), u, self.param)
        x_0t = tr.power_series(0, self.t, C)
        if show_plots:
            pw = pg.plot(title="control_input")
            pw.plot(self.t, x_0t)
            app.exec_()