LinearSystem_3_2_2

class wpimath.LinearSystem_3_2_2(a: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 3]'], b: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 2]'], c: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 3]'], d: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 2]'])

Bases: pybind11_object

A plant defined using state-space notation.

A plant is a mathematical model of a system’s dynamics.

For more on the underlying math, read https://file.tavsys.net/control/controls-engineering-in-frc.pdf.

@tparam States Number of states. @tparam Inputs Number of inputs. @tparam Outputs Number of outputs.

Constructs a discrete plant with the given continuous system coefficients.

Parameters:

• a – System matrix.

• b – Input matrix.

• c – Output matrix.

• d – Feedthrough matrix. @throws std::domain_error if any matrix element isn’t finite.

a(*args, **kwargs)

Overloaded function.

1. a(self: wpimath._wpimath.LinearSystem_3_2_2) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 3]”]

Returns the system matrix A.

2. a(self: wpimath._wpimath.LinearSystem_3_2_2, i: typing.SupportsInt | typing.SupportsIndex, j: typing.SupportsInt | typing.SupportsIndex) -> float

Returns an element of the system matrix A.

Parameters:

• i – Row of A.

• j – Column of A.

b(*args, **kwargs)

Overloaded function.

1. b(self: wpimath._wpimath.LinearSystem_3_2_2) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 2]”]

Returns the input matrix B.

2. b(self: wpimath._wpimath.LinearSystem_3_2_2, i: typing.SupportsInt | typing.SupportsIndex, j: typing.SupportsInt | typing.SupportsIndex) -> float

Returns an element of the input matrix B.

Parameters:

• i – Row of B.

• j – Column of B.

c(*args, **kwargs)

Overloaded function.

1. c(self: wpimath._wpimath.LinearSystem_3_2_2) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 3]”]

Returns the output matrix C.

2. c(self: wpimath._wpimath.LinearSystem_3_2_2, i: typing.SupportsInt | typing.SupportsIndex, j: typing.SupportsInt | typing.SupportsIndex) -> float

Returns an element of the output matrix C.

Parameters:

• i – Row of C.

• j – Column of C.

calculate_x(x: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]'], clamped_u: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]'], dt: wpimath.units.seconds) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

Computes the new x given the old x and the control input.

This is used by state observers directly to run updates based on state estimate.

Parameters:

• x – The current state.

• clamped_u – The control input.

• dt – Timestep for model update.

calculate_y(x: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]'], clamped_u: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

Computes the new y given the control input.

This is used by state observers directly to run updates based on state estimate.

Parameters:

• x – The current state.

• clamped_u – The control input.

d(*args, **kwargs)

Overloaded function.

1. d(self: wpimath._wpimath.LinearSystem_3_2_2) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 2]”]

Returns the feedthrough matrix D.

2. d(self: wpimath._wpimath.LinearSystem_3_2_2, i: typing.SupportsInt | typing.SupportsIndex, j: typing.SupportsInt | typing.SupportsIndex) -> float

Returns an element of the feedthrough matrix D.

Parameters:

• i – Row of D.

• j – Column of D.

slice(*args, **kwargs)

Overloaded function.

1. slice(self: wpimath._wpimath.LinearSystem_3_2_2, output_index: typing.SupportsInt | typing.SupportsIndex) -> wpimath._wpimath.LinearSystem_3_2_1

Returns the LinearSystem with the outputs listed in output_index.

2. slice(self: wpimath._wpimath.LinearSystem_3_2_2, output_index0: typing.SupportsInt | typing.SupportsIndex, output_index1: typing.SupportsInt | typing.SupportsIndex) -> wpimath._wpimath.LinearSystem_3_2_2

Returns the LinearSystem with the outputs listed in output_index0 and output_index1.