ApproximateDerivativeSystem.java
/*
* $Id: DerivativeSystem.java,v 1.9 2008/07/15 15:27:16 koga Exp $
*
* Copyright (C) 2004 Masanobu Koga. All rights reserved.
*/
package org.mklab.tool.control.system.continuous;
import org.mklab.nfc.matrix.ComplexNumericalMatrix;
import org.mklab.nfc.matrix.RealNumericalMatrix;
import org.mklab.nfc.ode.EquationSolver;
import org.mklab.nfc.scalar.ComplexNumericalScalar;
import org.mklab.nfc.scalar.RealNumericalScalar;
import org.mklab.tool.control.system.parameter.Parameter;
import org.mklab.tool.control.system.parameter.StringExternalizable;
/**
* (差分による擬似)時間微分器を表すクラスです。
*
* @author koga
* @version $Revision: 1.9 $, 2007/06/03
* @param <RS> type of real scalar
* @param <RM> type of real matrix
* @param <CS> type of complex scalar
* @param <CM> type of complex matrix
*/
public class ApproximateDerivativeSystem<RS extends RealNumericalScalar<RS, RM, CS, CM>, RM extends RealNumericalMatrix<RS, RM, CS, CM>, CS extends ComplexNumericalScalar<RS, RM, CS, CM>, CM extends ComplexNumericalMatrix<RS, RM, CS, CM>>
extends BaseContinuousStaticSystem<RS, RM, CS, CM> implements StringExternalizable {
/** 初期出力 */
@Parameter(name = "initialOutput", description = "Derivative.1", internationalization = true)
private RM initialOutput = this.sunit.createZeroGrid(1, 1);
/** 1刻み前の時刻 */
private RS previousTime;
/** 1呼び出し前の入力 */
private RM previousInput;
/** 1呼び出し前の出力 */
private RM previousOutput;
/**
* 新しく生成された<code>DerivativeSystem</code>オブジェクトを初期化します。
*
* @param sunit unit of scalar
*/
public ApproximateDerivativeSystem(RS sunit) {
super(-1, -1, sunit);
setAutoSize(true);
setHasDirectFeedthrough(true);
}
/**
* 初期出力を設定します。
*
* @param initialOutput 初期出力
*/
public void setInitialOutput(final RM initialOutput) {
this.initialOutput = initialOutput.createClone();
}
/**
* {@inheritDoc}
*/
@Override
public void initialize() {
this.previousOutput = this.initialOutput.createClone();
this.previousTime = this.sunit.create(0);
if (getInputSize() < 0) {
return;
}
this.previousInput = this.sunit.createZeroGrid(getInputSize(), 1);
}
/**
* {@inheritDoc}
*/
@Override
public RM outputEquation(final RS t, final RM u) {
if (t == this.previousTime) {
return this.previousOutput.createClone();
}
final RM output = u.subtract(this.previousInput).divide(t.subtract(this.previousTime));
if (EquationSolver.isTrial() == false) {
this.previousInput = u.createClone();
this.previousOutput = output.createClone();
this.previousTime = t;
}
return output;
}
/**
* {@inheritDoc}
*/
@Override
public void setInputSize(final int size) {
super.setInputSize(size);
super.setOutputSize(size);
if (size < 0) {
return;
}
if (this.initialOutput == null || this.initialOutput.length() < size) {
this.initialOutput = this.sunit.createZeroGrid(size, 1);
}
}
/**
* {@inheritDoc}
*/
@Override
public void setOutputSize(final int size) {
super.setInputSize(size);
super.setOutputSize(size);
if (size < 0) {
return;
}
if (this.initialOutput == null || this.initialOutput.length() < size) {
this.initialOutput = this.sunit.createZeroGrid(size, 1);
}
}
/**
* {@inheritDoc}
*/
public String getString(String key) {
return Messages.getString(key);
}
/**
* {@inheritDoc}
*/
@Override
public boolean equals(Object o) {
if (this == o) {
return true;
}
if (!super.equals(o)) {
return false;
}
if (o == null) {
return false;
}
if (o.getClass() != getClass()) {
return false;
}
final ApproximateDerivativeSystem<RS, RM, CS, CM> castedObj = (ApproximateDerivativeSystem<RS,RM,CS,CM>)o;
return ((this.initialOutput == null ? castedObj.initialOutput == null : this.initialOutput.equals(castedObj.initialOutput)) && (this.previousTime == castedObj.previousTime)
&& (this.previousInput == null ? castedObj.previousInput == null : this.previousInput.equals(castedObj.previousInput))
&& (this.previousOutput == null ? castedObj.previousOutput == null : this.previousOutput.equals(castedObj.previousOutput)));
}
/**
* {@inheritDoc}
*/
@Override
public int hashCode() {
int hashCode = super.hashCode();
hashCode = 31 * hashCode + (this.initialOutput == null ? 0 : this.initialOutput.hashCode());
hashCode = 31 * hashCode + (this.previousTime.hashCode() ^ (this.previousTime.hashCode() >>> 32));
hashCode = 31 * hashCode + (this.previousInput == null ? 0 : this.previousInput.hashCode());
hashCode = 31 * hashCode + (this.previousOutput == null ? 0 : this.previousOutput.hashCode());
return hashCode;
}
}