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* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* The ASF licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* This is not the original file distributed by the Apache Software Foundation
* It has been modified by the Hipparchus project
*/
package org.hipparchus.ode;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
import java.util.PriorityQueue;
import java.util.Queue;
import java.util.stream.Collectors;
import java.util.stream.Stream;
import org.hipparchus.exception.MathIllegalArgumentException;
import org.hipparchus.exception.MathIllegalStateException;
import org.hipparchus.ode.events.Action;
import org.hipparchus.ode.events.DetectorBasedEventState;
import org.hipparchus.ode.events.EventOccurrence;
import org.hipparchus.ode.events.EventState;
import org.hipparchus.ode.events.ODEEventDetector;
import org.hipparchus.ode.events.ODEStepEndHandler;
import org.hipparchus.ode.events.StepEndEventState;
import org.hipparchus.ode.sampling.AbstractODEStateInterpolator;
import org.hipparchus.ode.sampling.ODEStateInterpolator;
import org.hipparchus.ode.sampling.ODEStepHandler;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.Incrementor;
/**
* Base class managing common boilerplate for all integrators.
*/
public abstract class AbstractIntegrator implements ODEIntegrator {
/** Step handler. */
private List stepHandlers;
/** Current step start time. */
private ODEStateAndDerivative stepStart;
/** Current stepsize. */
private double stepSize;
/** Indicator for last step. */
private boolean isLastStep;
/** Indicator that a state or derivative reset was triggered by some event. */
private boolean resetOccurred;
/** Events states related to event detectors. */
private List detectorBasedEventsStates;
/** Events states related to step end. */
private List stepEndEventsStates;
/** Initialization indicator of events states. */
private boolean statesInitialized;
/** Name of the method. */
private final String name;
/** Counter for number of evaluations. */
private Incrementor evaluations;
/** Differential equations to integrate. */
private ExpandableODE equations;
/** Build an instance.
* @param name name of the method
*/
protected AbstractIntegrator(final String name) {
this.name = name;
stepHandlers = new ArrayList<>();
stepStart = null;
stepSize = Double.NaN;
detectorBasedEventsStates = new ArrayList<>();
stepEndEventsStates = new ArrayList<>();
statesInitialized = false;
evaluations = new Incrementor();
}
/** {@inheritDoc} */
@Override
public String getName() {
return name;
}
/** {@inheritDoc} */
@Override
public void addStepHandler(final ODEStepHandler handler) {
stepHandlers.add(handler);
}
/** {@inheritDoc} */
@Override
public List getStepHandlers() {
return Collections.unmodifiableList(stepHandlers);
}
/** {@inheritDoc} */
@Override
public void clearStepHandlers() {
stepHandlers.clear();
}
/** {@inheritDoc} */
@Override
public void addEventDetector(final ODEEventDetector detector) {
detectorBasedEventsStates.add(new DetectorBasedEventState(detector));
}
/** {@inheritDoc} */
@Override
public List getEventDetectors() {
return detectorBasedEventsStates.stream().map(DetectorBasedEventState::getEventDetector).collect(Collectors.toList());
}
/** {@inheritDoc} */
@Override
public void clearEventDetectors() {
detectorBasedEventsStates.clear();
}
/** {@inheritDoc} */
@Override
public void addStepEndHandler(ODEStepEndHandler handler) {
stepEndEventsStates.add(new StepEndEventState(handler));
}
/** {@inheritDoc} */
@Override
public List getStepEndHandlers() {
return stepEndEventsStates.stream().map(StepEndEventState::getHandler).collect(Collectors.toList());
}
/** {@inheritDoc} */
@Override
public void clearStepEndHandlers() {
stepEndEventsStates.clear();
}
/** {@inheritDoc} */
@Override
public double getCurrentSignedStepsize() {
return stepSize;
}
/** {@inheritDoc} */
@Override
public void setMaxEvaluations(int maxEvaluations) {
evaluations = evaluations.withMaximalCount((maxEvaluations < 0) ? Integer.MAX_VALUE : maxEvaluations);
}
/** {@inheritDoc} */
@Override
public int getMaxEvaluations() {
return evaluations.getMaximalCount();
}
/** {@inheritDoc} */
@Override
public int getEvaluations() {
return evaluations.getCount();
}
/**
* Prepare the start of an integration.
*
* @param eqn equations to integrate
* @param s0 initial state vector
* @param t target time for the integration
* @return Initial state with computed derivatives.
*/
protected ODEStateAndDerivative initIntegration(final ExpandableODE eqn,
final ODEState s0, final double t) {
this.equations = eqn;
evaluations = evaluations.withCount(0);
// initialize ODE
eqn.init(s0, t);
// set up derivatives of initial state (including primary and secondary components)
final double t0 = s0.getTime();
final double[] y0 = s0.getCompleteState();
final double[] y0Dot = computeDerivatives(t0, y0);
// built the state
final ODEStateAndDerivative s0WithDerivatives =
eqn.getMapper().mapStateAndDerivative(t0, y0, y0Dot);
// initialize detector based event states (both and step end based)
detectorBasedEventsStates.forEach(s -> {
s.init(s0WithDerivatives, t);
s.getEventDetector().getHandler().init(s0WithDerivatives, t, s.getEventDetector());
});
// initialize step end based event states
stepEndEventsStates.forEach(s -> {
s.init(s0WithDerivatives, t);
s.getHandler().init(s0WithDerivatives, t);
});
// initialize step handlers
for (ODEStepHandler handler : stepHandlers) {
handler.init(s0WithDerivatives, t);
}
setStateInitialized(false);
return s0WithDerivatives;
}
/** Get the differential equations to integrate.
* @return differential equations to integrate
*/
protected ExpandableODE getEquations() {
return equations;
}
/** Get the evaluations counter.
* @return evaluations counter
*/
protected Incrementor getEvaluationsCounter() {
return evaluations;
}
/** Compute the derivatives and check the number of evaluations.
* @param t current value of the independent time variable
* @param y array containing the current value of the state vector
* @return state completed with derivatives
* @exception MathIllegalArgumentException if arrays dimensions do not match equations settings
* @exception MathIllegalStateException if the number of functions evaluations is exceeded
* @exception NullPointerException if the ODE equations have not been set (i.e. if this method
* is called outside of a call to {@link #integrate(ExpandableODE, ODEState, double) integrate}
*/
public double[] computeDerivatives(final double t, final double[] y)
throws MathIllegalArgumentException, MathIllegalStateException, NullPointerException {
evaluations.increment();
return equations.computeDerivatives(t, y);
}
/** Increment evaluations of derivatives.
*
* @param nTimes number of evaluations to increment
*/
protected void incrementEvaluations(final int nTimes) {
evaluations.increment(nTimes);
}
/** Set the stateInitialized flag.
* This method must be called by integrators with the value
* {@code false} before they start integration, so a proper lazy
* initialization is done automatically on the first step.
* @param stateInitialized new value for the flag
*/
protected void setStateInitialized(final boolean stateInitialized) {
this.statesInitialized = stateInitialized;
}
/** Accept a step, triggering events and step handlers.
* @param interpolator step interpolator
* @param tEnd final integration time
* @return state at end of step
* @exception MathIllegalStateException if the interpolator throws one because
* the number of functions evaluations is exceeded
* @exception MathIllegalArgumentException if the location of an event cannot be bracketed
* @exception MathIllegalArgumentException if arrays dimensions do not match equations settings
*/
protected ODEStateAndDerivative acceptStep(final AbstractODEStateInterpolator interpolator,
final double tEnd)
throws MathIllegalArgumentException, MathIllegalStateException {
ODEStateAndDerivative previousState = interpolator.getGlobalPreviousState();
final ODEStateAndDerivative currentState = interpolator.getGlobalCurrentState();
ODEStateInterpolator restricted = interpolator;
// initialize the events states if needed
if (!statesInitialized) {
// initialize event states
detectorBasedEventsStates.forEach(s -> s.reinitializeBegin(interpolator));
statesInitialized = true;
}
// set end of step
stepEndEventsStates.forEach(s -> s.setStepEnd(currentState.getTime()));
// search for next events that may occur during the step
final int orderingSign = interpolator.isForward() ? +1 : -1;
final Queue occurringEvents = new PriorityQueue<>(new Comparator() {
/** {@inheritDoc} */
@Override
public int compare(final EventState es0, final EventState es1) {
return orderingSign * Double.compare(es0.getEventTime(), es1.getEventTime());
}
});
resetOccurred = false;
boolean doneWithStep = false;
resetEvents:
do {
// Evaluate all event detectors and end steps for events
occurringEvents.clear();
final ODEStateInterpolator finalRestricted = restricted;
Stream.concat(detectorBasedEventsStates.stream(), stepEndEventsStates.stream()).
forEach(s -> { if (s.evaluateStep(finalRestricted)) {
// the event occurs during the current step
occurringEvents.add(s);
}
});
do {
eventLoop:
while (!occurringEvents.isEmpty()) {
// handle the chronologically first event
final EventState currentEvent = occurringEvents.poll();
// get state at event time
ODEStateAndDerivative eventState = restricted.getInterpolatedState(currentEvent.getEventTime());
// restrict the interpolator to the first part of the step, up to the event
restricted = restricted.restrictStep(previousState, eventState);
// try to advance all event states related to detectors to current time
for (final DetectorBasedEventState state : detectorBasedEventsStates) {
if (state != currentEvent && state.tryAdvance(eventState, interpolator)) {
// we need to handle another event first
// remove event we just updated to prevent heap corruption
occurringEvents.remove(state);
// add it back to update its position in the heap
occurringEvents.add(state);
// re-queue the event we were processing
occurringEvents.add(currentEvent);
continue eventLoop;
}
}
// all event detectors agree we can advance to the current event time
// handle the first part of the step, up to the event
for (final ODEStepHandler handler : stepHandlers) {
handler.handleStep(restricted);
}
// acknowledge event occurrence
final EventOccurrence occurrence = currentEvent.doEvent(eventState);
final Action action = occurrence.getAction();
isLastStep = action == Action.STOP;
if (isLastStep) {
// ensure the event is after the root if it is returned STOP
// this lets the user integrate to a STOP event and then restart
// integration from the same time.
final ODEStateAndDerivative savedState = eventState;
eventState = interpolator.getInterpolatedState(occurrence.getStopTime());
restricted = interpolator.restrictStep(savedState, eventState);
// handle the almost zero size last part of the final step, at event time
for (final ODEStepHandler handler : stepHandlers) {
handler.handleStep(restricted);
handler.finish(restricted.getCurrentState());
}
}
if (isLastStep) {
// the event asked to stop integration
return eventState;
}
if (action == Action.RESET_DERIVATIVES || action == Action.RESET_STATE) {
// some event handler has triggered changes that
// invalidate the derivatives, we need to recompute them
final ODEState newState = occurrence.getNewState();
final double[] y = newState.getCompleteState();
final double[] yDot = computeDerivatives(newState.getTime(), y);
resetOccurred = true;
final ODEStateAndDerivative newStateAndDerivative = equations.getMapper().mapStateAndDerivative(newState.getTime(),
y, yDot);
detectorBasedEventsStates.forEach(e -> e.getEventDetector().reset(newStateAndDerivative, tEnd));
return newStateAndDerivative;
}
// at this point action == Action.CONTINUE or Action.RESET_EVENTS
// prepare handling of the remaining part of the step
previousState = eventState;
restricted = restricted.restrictStep(eventState, currentState);
if (action == Action.RESET_EVENTS) {
continue resetEvents;
}
// at this point action == Action.CONTINUE
// check if the same event occurs again in the remaining part of the step
if (currentEvent.evaluateStep(restricted)) {
// the event occurs during the current step
occurringEvents.add(currentEvent);
}
}
// last part of the step, after the last event. Advance all event
// detectors to the end of the step. Should never find new events unless
// a previous event modified the g function of another event detector when
// it returned Action.CONTINUE. Detecting such events here is unreliable
// and RESET_EVENTS should be used instead. Other option is to replace
// tryAdvance(...) with a doAdvance(...) that throws an exception when
// the g function sign is not as expected.
for (final DetectorBasedEventState state : detectorBasedEventsStates) {
if (state.tryAdvance(currentState, interpolator)) {
occurringEvents.add(state);
}
}
} while (!occurringEvents.isEmpty());
doneWithStep = true;
} while (!doneWithStep);
isLastStep = isLastStep || FastMath.abs(currentState.getTime() - tEnd) < FastMath.ulp(tEnd);
// handle the remaining part of the step, after all events if any
for (ODEStepHandler handler : stepHandlers) {
handler.handleStep(restricted);
if (isLastStep) {
handler.finish(restricted.getCurrentState());
}
}
return currentState;
}
/** Check the integration span.
* @param initialState initial state
* @param t target time for the integration
* @exception MathIllegalArgumentException if integration span is too small
* @exception MathIllegalArgumentException if adaptive step size integrators
* tolerance arrays dimensions are not compatible with equations settings
*/
protected void sanityChecks(final ODEState initialState, final double t)
throws MathIllegalArgumentException {
final double threshold = 1000 * FastMath.ulp(FastMath.max(FastMath.abs(initialState.getTime()),
FastMath.abs(t)));
final double dt = FastMath.abs(initialState.getTime() - t);
if (dt < threshold) {
throw new MathIllegalArgumentException(LocalizedODEFormats.TOO_SMALL_INTEGRATION_INTERVAL,
dt, threshold, false);
}
}
/** Check if a reset occurred while last step was accepted.
* @return true if a reset occurred while last step was accepted
*/
protected boolean resetOccurred() {
return resetOccurred;
}
/** Set the current step size.
* @param stepSize step size to set
*/
protected void setStepSize(final double stepSize) {
this.stepSize = stepSize;
}
/** Get the current step size.
* @return current step size
*/
protected double getStepSize() {
return stepSize;
}
/** Set current step start.
* @param stepStart step start
*/
protected void setStepStart(final ODEStateAndDerivative stepStart) {
this.stepStart = stepStart;
}
/** {@inheritDoc} */
@Override
public ODEStateAndDerivative getStepStart() {
return stepStart;
}
/** Set the last state flag.
* @param isLastStep if true, this step is the last one
*/
protected void setIsLastStep(final boolean isLastStep) {
this.isLastStep = isLastStep;
}
/** Check if this step is the last one.
* @return true if this step is the last one
*/
protected boolean isLastStep() {
return isLastStep;
}
}
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