DoubleDerivativeSystem.java

package org.mklab.tool.control.system.continuous;

import org.mklab.nfc.matrix.DoubleMatrix;
import org.mklab.tool.control.DoubleLinearSystemFactory;

/**
 * 微分器を表すクラスです
 * 
 * @author esumi
 * 
 */
public class DoubleDerivativeSystem extends DoubleContinuousLinearDynamicSystem {
  
  /**
   * 新しく生成された<code>TDerivativeSystem</code>オブジェクトを初期化します。
   */
  public DoubleDerivativeSystem() {
    super();
    setAutoSize(false);
  }

  /**
   * @see org.mklab.tool.control.system.SystemOperator#setInputSize(int)
   */
  @Override
  public void setInputSize(final int size) {
    if (size < 0) {
      return;
    }

    super.setInputSize(size);
    super.setOutputSize(size);

    if (getStateSize() != size) {
      setStateSize(size);
      super.setInitialState(new DoubleMatrix(size, 1));
      setLinearSystem(DoubleLinearSystemFactory.createLinearSystem(new DoubleMatrix(new double[][]{{0,1},{-1,0}}), new DoubleMatrix(new double[][]{{0},{1}}), new DoubleMatrix(new double[][]{{0,1}}), new DoubleMatrix(new double[][]{{0}}), new DoubleMatrix(new double[][]{{1,0},{0,0}})));
    }
  }

  /**
   * @see org.mklab.tool.control.system.SystemOperator#setOutputSize(int)
   */
  @Override
  public void setOutputSize(final int size) {
    if (size < 0) {
      return;
    }

    super.setInputSize(size);
    super.setOutputSize(size);

    if (getStateSize() != size) {
      setStateSize(size);
      super.setInitialState(new DoubleMatrix(size, 1));
      setLinearSystem(DoubleLinearSystemFactory.createLinearSystem(new DoubleMatrix(new double[][]{{0,1},{-1,0}}), new DoubleMatrix(new double[][]{{0},{1}}), new DoubleMatrix(new double[][]{{0,1}}), new DoubleMatrix(new double[][]{{0}}), new DoubleMatrix(new double[][]{{1,0},{0,0}})));
    }
  }

  /**
   * {@inheritDoc}
   */
  @Override
  public void setInitialState(DoubleMatrix initialState) {
    super.setInitialState(initialState);

    final int size = initialState.length();

    if (getStateSize() != size) {
      setStateSize(size);
      setLinearSystem(DoubleLinearSystemFactory.createLinearSystem(new DoubleMatrix(new double[][]{{0,1},{-1,0}}), new DoubleMatrix(new double[][]{{0},{1}}), new DoubleMatrix(new double[][]{{0,1}}), new DoubleMatrix(new double[][]{{0}}), new DoubleMatrix(new double[][]{{1,0},{0,0}})));
    }

    setInputSize(initialState.length());
    setOutputSize(initialState.length());
  }


}