LinearDynamicalSystem (Cognitive Foundry)

java.lang.Object
- gov.sandia.cognition.util.AbstractCloneableSerializable
- - gov.sandia.cognition.evaluator.AbstractStatefulEvaluator<Vector,Vector,Vector>
  - - gov.sandia.cognition.math.signals.LinearDynamicalSystem

All Implemented Interfaces:

Evaluator<Vector,Vector>, StatefulEvaluator<Vector,Vector,Vector>, VectorFunction, VectorInputEvaluator<Vector,Vector>, Vectorizable, VectorizableVectorFunction, VectorOutputEvaluator<Vector,Vector>, CloneableSerializable, java.io.Serializable, java.lang.Cloneable
```
@PublicationReference(author="Norman S. Nise",title="Control Systems Engineering, Second Edition",type=Book,year=1995,pages={648,702},notes="Chapter 12") @PublicationReference(author="Wikipedia",title="Linear dynamical system",type=WebPage,year=2008,url="http://en.wikipedia.org/wiki/Linear_dynamical_system",notes="This Wikipedia page is simply horrible...")
public class LinearDynamicalSystem
extends AbstractStatefulEvaluator<Vector,Vector,Vector>
implements VectorizableVectorFunction, VectorInputEvaluator<Vector,Vector>, VectorOutputEvaluator<Vector,Vector>
```
A generic Linear Dynamical System of the form
x_n = A*x_(n-1) + B*u_n
y_n = C*x_n,
where x_(n-1) is the previous state, x_n is the current state, u_n is the current input, y_n is the current output, A is the system matrix, B is the input-gain matrix, and C is the output-selector matrix

Since:

1.0

Author:

Kevin R. Dixon

See Also:

Serialized Form

Constructor Summary

Constructors
Constructor and Description
`LinearDynamicalSystem()` Default constructor.
`LinearDynamicalSystem(int inputDimensionality, int stateDimensionality)` Creates a new instance of LinearDynamicalSystem.
`LinearDynamicalSystem(int inputDimensionality, int stateDimensionality, int outputDimensionality)` Creates a new instance of LinearDynamicalSystem.
`LinearDynamicalSystem(Matrix A, Matrix B)` Creates a new instance of LinearDynamicalSystem
`LinearDynamicalSystem(Matrix A, Matrix B, Matrix C)` Creates a new instance of LinearDynamicalSystem

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`LinearDynamicalSystem`	`clone()` This makes public the clone method on the `Object` class and removes the exception that it throws.
`void`	`convertFromVector(Vector parameters)` Converts the object from a Vector of parameters.
`Vector`	`convertToVector()` Converts the object to a vector.
`Vector`	`createDefaultState()` Creates a new default state object.
`Vector`	`evaluate(Vector input)` Evaluates the function on the given input and returns the output.
`Matrix`	`getA()` Getter for A.
`Matrix`	`getB()` Getter for B.
`Matrix`	`getC()` Getter for C.
`int`	`getInputDimensionality()` Gets the expected dimensionality of the input vector to the evaluator, if it is known.
`int`	`getOutputDimensionality()` Gets the expected dimensionality of the output vector of the evaluator, if it is known.
`int`	`getStateDimensionality()` Gets the dimensionality of the state.
`void`	`setA(Matrix A)` Setter for A.
`void`	`setB(Matrix B)` Setter for B.
`void`	`setC(Matrix C)` Setter for C.
`java.lang.String`	`toString()`

Methods inherited from class gov.sandia.cognition.evaluator.AbstractStatefulEvaluator
evaluate, getState, resetState, setState

Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - LinearDynamicalSystem
```
public LinearDynamicalSystem()
```
    Default constructor.
  - LinearDynamicalSystem
```
public LinearDynamicalSystem(int inputDimensionality,
                             int stateDimensionality)
```
    Creates a new instance of LinearDynamicalSystem.
    
    Parameters:
    
    inputDimensionality - Dimensionality of the input Vectors.
    
    stateDimensionality - Dimensionality of the state Vectors.
  - LinearDynamicalSystem
```
public LinearDynamicalSystem(int inputDimensionality,
                             int stateDimensionality,
                             int outputDimensionality)
```
    Creates a new instance of LinearDynamicalSystem.
    
    Parameters:
    
    inputDimensionality - Dimensionality of the input Vectors.
    
    stateDimensionality - Dimensionality of the state Vectors.
    
    outputDimensionality - Dimensionality of the output Vectors.
  - LinearDynamicalSystem
```
public LinearDynamicalSystem(Matrix A,
                             Matrix B)
```
    Creates a new instance of LinearDynamicalSystem
    
    Parameters:
    
    A - System (Jacobian) matrix. Must be square.
    
    B - Input-gain matrix. Columns must equal A's rows.
  - LinearDynamicalSystem
```
public LinearDynamicalSystem(Matrix A,
                             Matrix B,
                             Matrix C)
```
    Creates a new instance of LinearDynamicalSystem
    
    Parameters:
    
    A - System (Jacobian) matrix. Must be square.
    
    B - Input-gain matrix. Columns must equal A's rows.
    
    C - Output-selector matrix. Columns must equal A's rows.
- Method Detail
  - clone
```
public LinearDynamicalSystem clone()
```
    Description copied from class: AbstractCloneableSerializable
    
    This makes public the clone method on the Object class and removes the exception that it throws. Its default behavior is to automatically create a clone of the exact type of object that the clone is called on and to copy all primitives but to keep all references, which means it is a shallow copy. Extensions of this class may want to override this method (but call super.clone() to implement a "smart copy". That is, to target the most common use case for creating a copy of the object. Because of the default behavior being a shallow copy, extending classes only need to handle fields that need to have a deeper copy (or those that need to be reset). Some of the methods in ObjectUtil may be helpful in implementing a custom clone method. Note: The contract of this method is that you must use super.clone() as the basis for your implementation.
    
    Specified by:
    
    clone in interface Vectorizable
    
    Specified by:
    
    clone in interface VectorizableVectorFunction
    
    Specified by:
    
    clone in interface CloneableSerializable
    
    Overrides:
    
    clone in class AbstractStatefulEvaluator<Vector,Vector,Vector>
    
    Returns:
    
    A clone of this object.
  - createDefaultState
```
public Vector createDefaultState()
```
    Description copied from interface: StatefulEvaluator
    
    Creates a new default state object.
    
    Specified by:
    
    createDefaultState in interface StatefulEvaluator<Vector,Vector,Vector>
    
    Returns:
    
    A new default state object.
  - evaluate
```
public Vector evaluate(Vector input)
```
    Description copied from interface: Evaluator
    
    Evaluates the function on the given input and returns the output.
    
    Specified by:
    
    evaluate in interface Evaluator<Vector,Vector>
    
    Specified by:
    
    evaluate in interface StatefulEvaluator<Vector,Vector,Vector>
    
    Parameters:
    
    input - The input to evaluate.
    
    Returns:
    
    The output produced by evaluating the input.
  - convertToVector
```
public Vector convertToVector()
```
    Description copied from interface: Vectorizable
    
    Converts the object to a vector.
    
    Specified by:
    
    convertToVector in interface Vectorizable
    
    Returns:
    
    The Vector form of the object.
  - convertFromVector
```
public void convertFromVector(Vector parameters)
```
    Description copied from interface: Vectorizable
    
    Converts the object from a Vector of parameters.
    
    Specified by:
    
    convertFromVector in interface Vectorizable
    
    Parameters:
    
    parameters - The parameters to incorporate.
  - getInputDimensionality
```
public int getInputDimensionality()
```
    Description copied from interface: VectorInputEvaluator
    
    Gets the expected dimensionality of the input vector to the evaluator, if it is known. If it is not known, -1 is returned.
    
    Specified by:
    
    getInputDimensionality in interface VectorInputEvaluator<Vector,Vector>
    
    Returns:
    
    The expected dimensionality of the input vector to the evaluator, or -1 if it is not known.
  - getOutputDimensionality
```
public int getOutputDimensionality()
```
    Description copied from interface: VectorOutputEvaluator
    
    Gets the expected dimensionality of the output vector of the evaluator, if it is known. If it is not known, -1 is returned.
    
    Specified by:
    
    getOutputDimensionality in interface VectorOutputEvaluator<Vector,Vector>
    
    Returns:
    
    The expected dimensionality of the output vector of the evaluator, or -1 if it is not known.
  - getStateDimensionality
```
public int getStateDimensionality()
```
    Gets the dimensionality of the state.
    
    Returns:
    
    Dimensionality of the state.
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object
  - getA
```
public Matrix getA()
```
    Getter for A.
    
    Returns:
    
    System (Jacobian) matrix. Must be square.
  - setA
```
public void setA(Matrix A)
```
    Setter for A.
    
    Parameters:
    
    A - System (Jacobian) matrix. Must be square.
  - getB
```
public Matrix getB()
```
    Getter for B.
    
    Returns:
    
    Input-gain matrix. Columns must equal A's rows.
  - setB
```
public void setB(Matrix B)
```
    Setter for B.
    
    Parameters:
    
    B - Input-gain matrix. Columns must equal A's rows.
  - getC
```
public Matrix getC()
```
    Getter for C.
    
    Returns:
    
    Output-selector matrix. Columns must equal A's rows.
  - setC
```
public void setC(Matrix C)
```
    Setter for C.
    
    Parameters:
    
    C - Output-selector matrix. Columns must equal A's rows.

Class LinearDynamicalSystem

Constructor Summary

Method Summary

Methods inherited from class gov.sandia.cognition.evaluator.AbstractStatefulEvaluator

Methods inherited from class java.lang.Object

Constructor Detail

LinearDynamicalSystem

LinearDynamicalSystem

LinearDynamicalSystem

LinearDynamicalSystem

LinearDynamicalSystem

Method Detail

clone

createDefaultState

evaluate

convertToVector

convertFromVector

getInputDimensionality

getOutputDimensionality

getStateDimensionality

toString

getA

setA

getB

setB

getC

setC