/// <summary>
/// Construct with the provided model update timestep increment (tau), and initial model state.
/// </summary>
/// <param name="tau">The timestep increment, e.g. 0.01 for 10 millisecond increments.</param>
/// <param name="state">The cart-pole model state variables.</param>
public CartDoublePolePhysics(float tau, float[] state)
{
Debug.Assert(state.Length == 6);
_tau = tau;
_state = state;
_equations = new CartDoublePoleEquations();
}
/// <summary>
/// Construct with the provided model update timestep increment (tau), initial model state, and equations of motion and parameters.
/// </summary>
/// <param name="tau">The timestep increment, e.g. 0.01 for 10 millisecond increments.</param>
/// <param name="state">The cart-pole model state variables.</param>
/// <param name="equations">The model equations of motion, and parameters.</param>
public CartDoublePolePhysicsRK2(
float tau,
float[] state,
CartDoublePoleEquations equations)
: base(tau, state, equations)
{
}
/// <summary>
/// Construct with the provided model update timestep increment (tau), initial model state, and equations of motion and parameters.
/// </summary>
/// <param name="tau">The timestep increment, e.g. 0.01 for 10 millisecond increments.</param>
/// <param name="state">The cart-pole model state variables.</param>
/// <param name="equations">The model equations of motion, and parameters.</param>
public CartDoublePolePhysicsRK4(
float tau,
float[] state,
CartDoublePoleEquations equations)
: base(tau, state, equations)
{
_tau_half = _tau / 2f;
}
/// <summary>
/// Construct with the provided model update timestep increment (tau).
/// </summary>
/// <param name="tau">The timestep increment, e.g. 0.01 for 10 millisecond increments.</param>
public CartDoublePolePhysics(float tau)
{
_tau = tau;
_state = new float[6];
_equations = new CartDoublePoleEquations();
}
/// <summary>
/// Construct with the model defaults.
/// </summary>
public CartDoublePolePhysics()
{
_state = new float[6];
_equations = new CartDoublePoleEquations();
}
