Struct LinearSystem 

pub struct LinearSystem<T: RealField, const N: usize, const U: usize> { /* private fields */ }

A linear system with an input. Defined by the transition matrix F, control matrix B and covariance matrix Q.

Implementations

impl<T: RealField + Copy, const N: usize, const U: usize> LinearSystem<T, N, U>

pub fn new( F: SMatrix<T, N, N>, Q: SMatrix<T, N, N>, B: SMatrix<T, N, U>, x_initial: SVector<T, N>, ) -> Self

Create new LinearSystem from the transition matrix F, process covariance Q and control matrix B.

pub fn set_transition(&mut self, transition: SMatrix<T, N, N>)

Set a new transition matrix, also updating the transpose

pub fn covariance_mut(&mut self) -> &mut SMatrix<T, N, N>

Get a mutable reference to the process covariance matrix

Trait Implementations

impl<T: Clone + RealField, const N: usize, const U: usize> Clone for LinearSystem<T, N, U>

fn clone(&self) -> LinearSystem<T, N, U>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug + RealField, const N: usize, const U: usize> Debug for LinearSystem<T, N, U>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T: RealField + Copy, const N: usize, const U: usize> InputSystem<T, N, U> for LinearSystem<T, N, U>

impl InputSystem for LinearSystem

fn step(&mut self, u: SVector<T, U>) -> &SVector<T, N>

transition to the next state, returning a reference to it

impl<T: RealField + Copy, const N: usize, const U: usize> System<T, N, U> for LinearSystem<T, N, U>

Implement System for LinearSystem

fn transition(&self) -> &SMatrix<T, N, N>

Get the transition matrix (Jacobian)

fn transition_transpose(&self) -> &SMatrix<T, N, N>

Get the transpose of the transition matrix

fn covariance(&self) -> &SMatrix<T, N, N>

Get a reference to the process covariance matrix

fn state(&self) -> &SVector<T, N>

Get a reference to the state

fn state_mut(&mut self) -> &mut SVector<T, N>

Get a mutable reference to the state