BaseContinuousImplicitDynamicSystem.java

/*
 * $Id: BaseContinuousDynamicSystem.java,v 1.21 2008/06/26 10:10:34 koga Exp $
 *
 * Copyright (C) 2004 Koga Laboratory. 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.SolverStopException;
import org.mklab.nfc.scalar.ComplexNumericalScalar;
import org.mklab.nfc.scalar.RealNumericalScalar;


/**
 * 陰的常微分方程式で表現される連続時間動的システムを表わすクラスです。
 * 
 * @author Koga Laboratory
 * @version $Revision: 1.21 $, 2004/11/09
 * @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 abstract class BaseContinuousImplicitDynamicSystem<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 BaseContinuousDynamicSystem<RS,RM,CS,CM> implements ContinuousImplicitDynamicSystem<RS,RM,CS,CM> {
 
  /**
   * 新しく生成された<code>BaseContinuousDynamicSystem</code>オブジェクトを初期化します。
   * 
   * @param inputSize 入力の数
   * @param outputSize 出力の数
   * @param stateSize 状態の数
   * @param sunit unit of scalar
   */
  public BaseContinuousImplicitDynamicSystem(final int inputSize, final int outputSize, final int stateSize, RS sunit) {
    super(inputSize, outputSize, stateSize, sunit);
  }

  /**
   * {@inheritDoc}
   */
  final public RM  differentialEquation(final RS t, final RM  x, RM  dx, final RM  inputOutput) throws SolverStopException {
    final RM  u = inputOutput.getRowVectors(1, getInputSize());
    return stateEquation(t, x, dx, u);
  }

}