DeadZone.java
/*
* $Id: DeadZone.java,v 1.18 2008/07/15 15:27:15 koga Exp $
*
* Copyright (C) 2004 Masanobu Koga. All rights reserved.
*/
package org.mklab.tool.control.system.discontinuous;
import java.util.ArrayList;
import java.util.List;
import org.mklab.nfc.matrix.ComplexNumericalMatrix;
import org.mklab.nfc.matrix.RealNumericalMatrix;
import org.mklab.nfc.ode.PiecewiseContinuousAlgebraicSystem;
import org.mklab.nfc.ode.PiecewiseUtil;
import org.mklab.nfc.scalar.ComplexNumericalScalar;
import org.mklab.nfc.scalar.RealNumericalScalar;
import org.mklab.tool.control.system.continuous.BaseContinuousStaticSystem;
import org.mklab.tool.control.system.parameter.Parameter;
import org.mklab.tool.control.system.parameter.StringExternalizable;
/**
* 不感帯システムを表すクラスです。
*
* @author koga
* @version $Revision: 1.18 $
* @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 DeadZone<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 PiecewiseContinuousAlgebraicSystem<RS,RM,CS,CM>, StringExternalizable {
/** 不感帯の下限 */
@Parameter(name = "lowerLimit", description = "DeadZone.1", internationalization = true)
private RS lowerLimit;
/** 不感帯の上限 */
@Parameter(name = "upperLimit", description = "DeadZone.3", internationalization = true)
private RS upperLimit;
/**
* 新しく生成された<code>DeadZone</code>オブジェクトを初期化します。
* @param sunit unit of scalar
*/
public DeadZone(RS sunit) {
this(sunit.create(1).divide(2).unaryMinus(), sunit.create(1).divide(2), sunit);
}
/**
* 新しく生成された<code>Saturation</code>オブジェクトを初期化します。
*
* @param lowerLimit 不感帯の下限
* @param upperLimit 不感帯の上限
* @param sunit unit of scalar
*/
public DeadZone(final RS lowerLimit, final RS upperLimit, RS sunit) {
super(-1, -1, sunit);
setAutoSize(true);
setHasDirectFeedthrough(true);
setLowerLimit(lowerLimit);
setUpperLimit(upperLimit);
}
/**
* {@inheritDoc}
*/
@Override
public RM outputEquation(final RS t, final RM u) {
final int size = u.getRowSize();
final RM y = this.sunit.createZeroGrid(size, 1);
for (int i = 1; i <= size; i++) {
final RS uu = u.getElement(i, 1);
if (uu.isLessThan(this.lowerLimit)) {
y.setElement(i, 1, uu.subtract(this.lowerLimit));
} else if (this.upperLimit.isLessThan(uu)) {
y.setElement(i, 1, uu.subtract(this.upperLimit));
} else {
y.setElement(i, 1, 0);
}
}
return y;
}
/**
* 不感帯の下限を設定します。
*
* @param lowerLimit 不感帯の下限
*/
public void setLowerLimit(final RS lowerLimit) {
this.lowerLimit = lowerLimit;
}
/**
* 不感帯の上限を設定します。
*
* @param upperLimit 不感帯の上限
*/
public void setUpperLimit(final RS upperLimit) {
this.upperLimit = upperLimit;
}
/**
* 不感帯の下限を返します。
*
* @return 不感帯の下限
*/
public RS getLowerLimit() {
return this.lowerLimit;
}
/**
* 不感帯の上限を返します。
*
* @return 不感帯の上限
*/
public RS getUpperLimit() {
return this.upperLimit;
}
/**
* {@inheritDoc}
*/
@SuppressWarnings("boxing")
public List<Integer> getPiece( final RS t, final RM u) {
final int size = u.getRowSize();
final List<Integer> pieces = new ArrayList<>(size);
for (int i = 1; i <= size; i++) {
final RS uu = u.getElement(i);
if (uu.isLessThan(this.lowerLimit)) {
pieces.add(0);
} else if (this.upperLimit.isLessThan(uu)) {
pieces.add(2);
} else {
pieces.add(1);
}
}
return pieces;
}
/**
* {@inheritDoc}
*/
@SuppressWarnings("boxing")
public RS getDiscontinuousPoint(final RS t1, final RM u1, final RS t2, final RM u2) {
final List<Integer> pieces1 = getPiece(t1, u1);
final List<Integer> pieces2 = getPiece(t2, u2);
if (pieces1.equals(pieces2)) {
return this.sunit.getNaN();
}
final int number = PiecewiseUtil.getDistinctPiece(pieces1, pieces2);
final int piece1 = pieces1.get(number - 1);
final int piece2 = pieces2.get(number - 1);
final boolean fromZeroToOne = piece1 == 0 && piece2 == 1;
final boolean fromOneToZero = piece1 == 1 && piece2 == 0;
final RS uu1 = u1.getElement(number);
final RS uu2 = u2.getElement(number);
if (fromZeroToOne || fromOneToZero) {
return t1.add(this.lowerLimit.subtract(uu1).divide(uu2.subtract(uu1)).multiply(t2.subtract(t1)));
}
final boolean fromOneToTwo = piece1 == 1 && piece2 == 2;
final boolean fromTwoToOne = piece1 == 2 && piece2 == 1;
if (fromOneToTwo || fromTwoToOne) {
return t1.add(this.upperLimit.subtract(uu1).divide(uu2.subtract(uu1)).multiply(t2.subtract(t1)));
}
assert false : "never reached"; //$NON-NLS-1$
return this.sunit.getNaN();
}
/**
* @see org.mklab.tool.control.system.SystemOperator#setInputSize(int)
*/
@Override
public void setInputSize(final int size) {
super.setInputSize(size);
super.setOutputSize(size);
}
/**
* @see org.mklab.tool.control.system.SystemOperator#setOutputSize(int)
*/
@Override
public void setOutputSize(final int size) {
super.setInputSize(size);
super.setOutputSize(size);
}
/**
* @see org.mklab.tool.control.system.parameter.StringExternalizable#getString(java.lang.String)
*/
public String getString(String key) {
return Messages.getString(key);
}
/**
* @see org.mklab.tool.control.system.SystemOperator#equals(java.lang.Object)
*/
@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;
}
DeadZone<RS,RM,CS,CM> castedObj = (DeadZone<RS,RM,CS,CM>)o;
return ((this.lowerLimit == castedObj.lowerLimit) && (this.upperLimit == castedObj.upperLimit));
}
/**
* @see org.mklab.tool.control.system.SystemOperator#hashCode()
*/
@Override
public int hashCode() {
int hashCode = super.hashCode();
hashCode = 31 * hashCode + (this.lowerLimit.hashCode() ^ (this.lowerLimit.hashCode() >>> 32));
hashCode = 31 * hashCode + (this.upperLimit.hashCode() ^ (this.upperLimit.hashCode() >>> 32));
return hashCode;
}
}