Source code for mpt4py.systems.system_base

from abc import abstractmethod, ABC
import numpy as np
from typing import Optional, Union, List
import control as ct
from mpt4py.base import Matrix, Vector




class SystemBase(ABC, ct.InputOutputSystem):
	"""
	Base class for all continuous-time dynamical systems.
	"""
	def __init__(self, *args, **kwargs):
		ct.InputOutputSystem.__init__(self, *args, **kwargs)
		pass

	@property
	def nx(self) -> int: return self.nstates

	@property
	def nu(self) -> int: return self.ninputs

	@property
	def ny(self) -> int: return self.noutputs



	def dynamics(self) -> np.ndarray:
		"""
		The system dynamics.
		If the system is continuous, return x_dot.
		If the system is discrete, return x_plus.
		"""
		pass


	# TODO: improve this, should allow inplace options


	@abstractmethod
	def discretize(self, Ts: float, *args, **kwargs) -> "SystemBase":
		pass




	def cost(self, x: Vector, u: Vector) -> float:
		pass