DoubleBaseContinuousImplicitDynamicSystem.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.DoubleMatrix;
import org.mklab.nfc.ode.SolverStopException;


/**
 * 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
 */
public abstract class DoubleBaseContinuousImplicitDynamicSystem extends DoubleBaseContinuousDynamicSystem implements DoubleContinuousImplicitDynamicSystem {
 
  /**
   * 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
   */
  public DoubleBaseContinuousImplicitDynamicSystem(final int inputSize, final int outputSize, final int stateSize) {
    super(inputSize, outputSize, stateSize);
  }

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

}