utils module¶
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simupy.utils.
array_callable_from_vector_trajectory
(tt, x, unraveled, raveled)[source]¶ Convert a trajectory into an interpolating callable that returns a 2D array. The unraveled, raveled pair map how the array is filled in. See riccati_system example.
Parameters: - tt (1D array_like) – Array of m time indices of trajectory
- xx (2D array_like) – Array of m x n vector samples at the time indices. First dimension indexes time, second dimension indexes vector components
- unraveled (1D array_like) – Array of n unique keys matching xx.
- raveled (2D array_like) – Array where the elements are the keys from unraveled. The mapping between unraveled and raveled is used to specify how the output array is filled in.
Returns: matrix_callable – The callable interpolating the trajectory with the specified shape.
Return type: callable
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simupy.utils.
callable_from_trajectory
(t, curves)[source]¶ Use scipy.interpolate splprep to build cubic b-spline interpolating functions over a set of curves.
Parameters: - t (1D array_like) – Array of m time indices of trajectory
- curves (2D array_like) – Array of m x n vector samples at the time indices. First dimension indexes time, second dimension indexes vector components
Returns: interpolated_callable – Callable which interpolates the given curve/trajectories
Return type: callable