Class DiscreteDynamics
dim
property
¶
Returns the dimension of the system.
Returns:
| Type | Description |
|---|---|
int
|
The dimension of the system. |
param_dim
property
¶
Returns the dimension of the parameters.
Returns:
| Type | Description |
|---|---|
int
|
The dimension of the parameters. |
__init__(trans_func, dim, param_dim=0)
¶
Initializes the dynamics object with a transition function, state dimension, and optional parameter dimension.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
trans_func
|
torch.Tensor -> torch.Tensor
|
The transformation function that defines the dynamics. |
required |
dim
|
int
|
The dimension of the state space. |
required |
param_dim
|
int
|
The dimension of the parameter space. |
0
|
step(x, u)
¶
Advances the system dynamics by one time step using the given state and parameter/control input.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
x
|
Tensor
|
The current state of the system. |
required |
u
|
Tensor
|
The control input to be applied. |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
The next state of the system after applying the control input. |
traj(x0, u0, traj_len)
¶
Simulate trajectory of a dynamical system.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
x0
|
Tensor
|
The initial state of the system. Expected shape is (N, number of state). |
required |
u0
|
Tensor or None
|
The control input or parameter. If None, a zero tensor is used. If time-independent, should have shape (1, number of control inputs). If time-dependent, should have shape (traj_len - 1, number of control inputs). |
required |
traj_len
|
int
|
The length of the trajectory to simulate. |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
A tensor containing the simulated trajectory. The shape is (N, traj_len, number of state). |