DoubleRoundingFunction.java

/*
 * $Id: RoundingFunction.java,v 1.14 2008/07/16 03:51:37 koga Exp $
 *
 * Copyright (C) 2004 Koga Laboratory. All rights reserved.
 *
 */

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

import java.util.ArrayList;
import java.util.List;

import org.mklab.nfc.matrix.DoubleMatrix;
import org.mklab.nfc.ode.DoublePiecewiseContinuousAlgebraicSystem;
import org.mklab.nfc.ode.PiecewiseUtil;
import org.mklab.tool.control.system.continuous.DoubleBaseContinuousStaticSystem;
import org.mklab.tool.control.system.parameter.Parameter;
import org.mklab.tool.control.system.parameter.StringExternalizable;


/**
 * 丸め関数を表わすクラスです。
 * 
 * @author Koga Laboratory
 * @version $Revision: 1.14 $, 2004/11/12
 */
public class DoubleRoundingFunction extends DoubleBaseContinuousStaticSystem implements DoublePiecewiseContinuousAlgebraicSystem, StringExternalizable {

  /** 丸め関数の種類 */
  @Parameter(name = "functionType", description = "RoundingFunction.0", internationalization = true)
  private RoundingFunctionType type;

  /**
   * 新しく生成された<code>RoundingFunction</code>オブジェクトを初期化します。
   */
  public DoubleRoundingFunction() {
    this(RoundingFunctionType.ROUND);
  }

  /**
   * @see org.mklab.tool.control.system.SystemOperator#toString()
   */
  @Override
  public String toString() {
    return this.type.toString();
  }

  /**
   * 新しく生成された<code>RoundingFunction</code>オブジェクトを初期化します。
   * 
   * @param type 丸め関数の種類
   */
  public DoubleRoundingFunction(final RoundingFunctionType type) {
    super(-1, -1);
    this.type = type;
    setAutoSize(true);
    setHasDirectFeedthrough(true);
  }

  /**
   * {@inheritDoc}
   */
  @Override
  public DoubleMatrix outputEquation( final double t, final DoubleMatrix u) {

    switch (this.type) {
      case FLOOR:
        return u.floorElementWise();
      case CEIL:
        return u.ceilElementWise();
      case ROUND:
        return u.roundElementWise();
      case FIX:
        return u.fixElementWise();
      default:
        assert false : "never reached"; //$NON-NLS-1$    
    }

    return new DoubleMatrix(u.getRowSize(), 1);
  }

  /**
   * @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.setOutputSize(size);
    super.setInputSize(size);
  }

  /**
   * @see org.mklab.tool.control.system.parameter.StringExternalizable#getString(java.lang.String)
   */
  public String getString(String key) {
    return Messages.getString(key);
  }

  /**
   * 関数の式を返します。
   * 
   * @return 関数の式
   */
  public String getFunction() {
    return this.type.getFunction();
  }

  /**
   * @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;
    }
    DoubleRoundingFunction castedObj = (DoubleRoundingFunction)o;
    return ((this.type == null ? castedObj.type == null : this.type.equals(castedObj.type)));
  }

  /**
   * @see org.mklab.tool.control.system.SystemOperator#hashCode()
   */
  @Override
  public int hashCode() {
    int hashCode = super.hashCode();
    hashCode = 31 * hashCode + (this.type == null ? 0 : this.type.hashCode());
    return hashCode;
  }

  /**
   * @see org.mklab.tool.control.system.SystemOperator#clone()
   */
  @Override
  public DoubleRoundingFunction clone() {
    DoubleRoundingFunction inst = (DoubleRoundingFunction)super.clone();
    inst.type = this.type;
    return inst;
  }

  /**
   * {@inheritDoc}
   */
  @Override
  public List<Integer> getPiece(double t, DoubleMatrix u) {
    final int size = u.getRowSize();
    final List<Integer> pieces = new ArrayList<>(size);

    for (int i = 1; i <= size; i++) {
      final double y = outputEquation(t, u).getDoubleElement(i);
      pieces.add(Integer.valueOf((int)y));
    }

    return pieces;
  }

  /**
   * {@inheritDoc}
   */
  @SuppressWarnings("boxing")
  @Override
  public double getDiscontinuousPoint(double t1, DoubleMatrix u1, double t2, DoubleMatrix u2) {
    final List<Integer> pieces1 = getPiece(t1, u1);
    final List<Integer> pieces2 = getPiece(t2, u2);
    if (pieces1.equals(pieces2)) {
      return Double.NaN;
    }

    final int number = PiecewiseUtil.getDistinctPiece(pieces1, pieces2);

    final int piece1 = pieces1.get(number - 1);
    final int piece2 = pieces2.get(number - 1);

    final double uu1 = u1.getDoubleElement(number);
    final double uu2 = u2.getDoubleElement(number);

    if (piece1 < piece2) {
      final double halfValue = (Math.floor(uu1) + Math.ceil(uu2)) / 2;
      final double halfValueTime = t1 + (halfValue - uu1) / (uu2 - uu1) * (t2 - t1);
      if (t2 < halfValueTime) {
        return (t1 + t2) / 2;
      }
      return halfValueTime;
    }

    final double halfValue = (Math.floor(uu2) + Math.ceil(uu1)) / 2;
    final double halfValueTime = t1 + (uu1 - halfValue) / (uu1 - uu2) * (t2 - t1);
    if (t2 < halfValueTime) {
      return (t1 + t2) / 2;
    }
    return halfValueTime;
  }
}