siconos.control.sensor.LinearSensor (Python class)

class siconos.control.sensor.LinearSensor(*args)[source]

Bases: siconos.control.sensor.ControlSensor

Common linear Sensor to get output of the system.

A generic linear sensor, to capture the output y defined as y = Cx + Du

Generated class (swig), based on C++ header Program listing for file control/src/Sensor/LinearSensor.hpp.

Constructors

LinearSensor(DynamicalSystem ds)

Constructor for the SensorFactory.

Parameters:ds – the SP::DynamicalSystem it observes
LinearSensor(DynamicalSystem ds, array_like (np.float64, 2D) C, array_like (np.float64, 2D) D=array_like (np.float64, 2D)())

Constructor with the full set of data.

Parameters:
  • ds – the SP::DynamicalSystem it observes.
  • C – a SP::SiconosMatrix.
  • D – a SP::SiconosMatrix (optional).
capture() → None[source]

capture data when the SensorEvent is processed ( for example set data[SensorEvent]=…

)

initialize(NonSmoothDynamicalSystem nsds) → None[source]

initialize sensor data

Parameters:nsds – current nonsmooth dynamical system
setC(array_like (np.float64, 2D) C) → None[source]

Set the C matrix.

Parameters:C – a SimpleMatrix
setCPtr(array_like (np.float64, 2D) C) → None[source]

Set the C matrix.

Parameters:C – a SP::SimpleMatrix
setD(array_like (np.float64, 2D) D) → None[source]

Set the D matrix.

Parameters:D – a SimpleMatrix
setDPtr(array_like (np.float64, 2D) D) → None[source]

Set the D matrix.

Parameters:D – a SP::SimpleMatrix