API Reference¶

state_space_design.servoTool.cli¶

state_space_design.servoTool.cli.build_parser()[source]¶

Build the command line parser for servoTool.

Return type:: ArgumentParser

state_space_design.servoTool.cli.main(argv=None)[source]¶

Run the servoTool command line interface.

Parameters:: argv (list[str] | None)
Return type:: int

state_space_design.servoTool.apis¶

class state_space_design.servoTool.apis.RunRequest(data_path: 'str', mode_C: 'Optional[str]' = None, r: 'float' = 1.0, k_r_override: 'Optional[float]' = None, t: 'str' = '0:0.01:5', save_csv: 'Optional[str]' = None, export_json: 'Optional[str]' = None, backend: 'str' = 'none', no_show: 'bool' = False)[source]¶

Bases: object

Parameters:

data_path (str)
mode_C (str | None)
r (float)
k_r_override (float | None)
t (str)
save_csv (str | None)
export_json (str | None)
backend (str)
no_show (bool)

backend: str = 'none'¶

data_path: str¶

export_json: str | None = None¶

k_r_override: float | None = None¶

mode_C: str | None = None¶

no_show: bool = False¶

r: float = 1.0¶

save_csv: str | None = None¶

t: str = '0:0.01:5'¶

class state_space_design.servoTool.apis.RunResponse(model: 'ServoIOModel', io_json_path: 'Optional[str]' = None, csv_path: 'Optional[str]' = None, plot_html_path: 'Optional[str]' = None)[source]¶

Bases: object

Parameters:

model (ServoIOModel)
io_json_path (str | None)
csv_path (str | None)
plot_html_path (str | None)

csv_path: str | None = None¶

io_json_path: str | None = None¶

model: ServoIOModel¶

plot_html_path: str | None = None¶

state_space_design.servoTool.apis.run(req)[source]¶

Parameters:: req (RunRequest)
Return type:: RunResponse

state_space_design.servoTool.app¶

class state_space_design.servoTool.app.ServoApp[source]¶

Bases: object

Thin orchestrator for external integrations (GUIs, notebooks).

execute(**kwargs)[source]¶

Return type:: RunResponse

state_space_design.servoTool.core¶

class state_space_design.servoTool.core.ControllerPayload(mode, A, B, C=None, K=None, kI=None, state_names=None, output_names=None)[source]¶

Bases: object

Controller JSON produced by gain_matrix.py (mode=K or KI).

Parameters:

mode (ServoMode)
A (ndarray)
B (ndarray)
C (ndarray | None)
K (ndarray | None)
kI (float | None)
state_names (List[str] | None)
output_names (List[str] | None)

A: ndarray¶

B: ndarray¶

C: ndarray | None = None¶

K: ndarray | None = None¶

kI: float | None = None¶

mode: ServoMode¶

output_names: List[str] | None = None¶

state_names: List[str] | None = None¶

class state_space_design.servoTool.core.ServoIOModel(mode, Acl, Bcl, C, D, r, k_r=None, kI=None, state_names=<factory>, output_names=<factory>)[source]¶

Bases: object

Resulting I/O model for step-to-reference.

Parameters:

mode (ServoMode)
Acl (ndarray)
Bcl (ndarray)
C (ndarray)
D (ndarray)
r (float)
k_r (float | None)
kI (float | None)
state_names (List[str])
output_names (List[str])

Acl: ndarray¶

Bcl: ndarray¶

C: ndarray¶

D: ndarray¶

kI: float | None = None¶

k_r: float | None = None¶

mode: ServoMode¶

output_names: List[str]¶

r: float¶

state_names: List[str]¶

to_jsonable()[source]¶

Return type:: dict

class state_space_design.servoTool.core.ServoMode(*values)[source]¶

Bases: str, Enum

K = 'K'¶

KI = 'KI'¶

state_space_design.servoTool.io¶

state_space_design.servoTool.io.ensure_out_path(name, default_name)[source]¶

Parameters:

name (str | None)
default_name (str)

Return type:

str

state_space_design.servoTool.io.load_controller_json(path)[source]¶

Parameters:: path (str)
Return type:: ControllerPayload

state_space_design.servoTool.io.save_csv(path, T, Y, header='t,y')[source]¶

Parameters:

path (str)
header (str)

Return type:

str

state_space_design.servoTool.io.save_io_json(path, io_payload)[source]¶

Parameters:

path (str)
io_payload (dict)

Return type:

str

state_space_design.servoTool.utils¶

state_space_design.servoTool.utils.default_output_names(p)[source]¶

Parameters:: p (int)
Return type:: list[str]

state_space_design.servoTool.utils.default_state_names(n)[source]¶

Parameters:: n (int)
Return type:: list[str]

state_space_design.servoTool.utils.ensure_2d_row(v)[source]¶

state_space_design.servoTool.utils.ensure_col(v)[source]¶

state_space_design.servoTool.utils.parse_matrix(s)[source]¶

Parameters:: s (str)
Return type:: ndarray

state_space_design.servoTool.utils.parse_time(s)[source]¶

Parameters:: s (str)
Return type:: ndarray