Co-simulation [best]: Xmod

def get_state(self): return {"x": self.x, "v": self.v}

def __init__(self, dt: float): self.dt = dt self.models: Dict[str, XModModel] = {} self.connections: List[tuple] = [] # (from_model, from_port, to_model, to_port) xmod co-simulation

def __init__(self, name: str, Kp: float, x_ref: float = 0.0): super().__init__(name) self.Kp = Kp self.x_ref = x_ref self.input_ports = [XModPort("x_measured")] self.output_ports = [XModPort("F_cmd")] def get_state(self): return {"x": self

@abstractmethod def get_state(self) -> Dict: """For checkpoint/rollback.""" pass def get_state(self): return {"x": self.x

def get_state(self): return {"x": self.x, "v": self.v}

def __init__(self, dt: float): self.dt = dt self.models: Dict[str, XModModel] = {} self.connections: List[tuple] = [] # (from_model, from_port, to_model, to_port)

def __init__(self, name: str, Kp: float, x_ref: float = 0.0): super().__init__(name) self.Kp = Kp self.x_ref = x_ref self.input_ports = [XModPort("x_measured")] self.output_ports = [XModPort("F_cmd")]

@abstractmethod def get_state(self) -> Dict: """For checkpoint/rollback.""" pass