NextControl/dev.nextftc.control.model

Package-level declarations

State-space plant types: the generic Model interface, the discretized LinearModel used by LQRController and KalmanFilter, and MotionState, the typed kinematic state shared by PID, feedforward, and profiling code.

Types

LinearModel

class LinearModel<State : Nat, Input : Nat, Output : Nat> @JvmOverloads constructor(val A: Matrix<State, State>, val B: Matrix<State, Input>, val C: Matrix<Output, State>, val D: Matrix<Output, Input>, val dt: Double = 0.05) : Model<State, Input, Output>

Model

interface Model<State : Nat, Input : Nat, Output : Nat>

MotionState

data class MotionState<U : Unit<U>> @JvmOverloads constructor(val position: Measure<U>, val velocity: Per<U, TimeUnit> = position.unit.per(Seconds).of(0.0), val acceleration: Per<PerUnit<U, TimeUnit>, TimeUnit> = position.unit.per( Seconds, ).per(Seconds).of(0.0))

The kinematic state of a system, parameterized by position unit type.