commit 6c20f20d183c025d91df90ade040b8cb809f38cc
author Austin Schuh <austin.linux@gmail.com> Sat Feb 18 22:31:44 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 19 00:12:58 2017 -0800
tree dfa13e697175b69555853f6cdd5efcadaa67bd4b
parent cd3237ac40ec65657c4be2f382b1b469ef5ce597

Added A_continuous and B_continuous to StateFeedbackPlantCoefficients

Change-Id: I0c2649e0ef4986c6b9122bf59adc8ad1d45572f4

y2014/control_loops/python/shooter.py

diff --git a/y2014/control_loops/python/shooter.py b/y2014/control_loops/python/shooter.py
index a4767d1..6a6bb3e 100755
--- a/y2014/control_loops/python/shooter.py
+++ b/y2014/control_loops/python/shooter.py
@@ -108,6 +108,16 @@
     A_unaugmented = self.A
     B_unaugmented = self.B
 
+    A_continuous_unaugmented = self.A_continuous
+    B_continuous_unaugmented = self.B_continuous
+
+    self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
+    self.A_continuous[0:2, 0:2] = A_continuous_unaugmented
+    self.A_continuous[0:2, 2] = B_continuous_unaugmented
+
+    self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
+    self.B_continuous[2, 0] = 1.0 / self.dt
+
     self.A = numpy.matrix([[0.0, 0.0, 0.0],
                            [0.0, 0.0, 0.0],
                            [0.0, 0.0, 1.0]])
@@ -147,6 +157,16 @@
     A_unaugmented = self.A
     B_unaugmented = self.B
 
+    A_continuous_unaugmented = self.A_continuous
+    B_continuous_unaugmented = self.B_continuous
+
+    self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
+    self.A_continuous[0:2, 0:2] = A_continuous_unaugmented
+    self.A_continuous[0:2, 2] = B_continuous_unaugmented
+
+    self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
+    self.B_continuous[2, 0] = 1.0 / self.dt
+
     self.A = numpy.matrix([[0.0, 0.0, 0.0],
                            [0.0, 0.0, 0.0],
                            [0.0, 0.0, 1.0]])