us.ihmc.scs2.symbolic.EquationInput Maven / Gradle / Ivy
package us.ihmc.scs2.symbolic;
import us.ihmc.scs2.definition.yoVariable.YoEquationDefinition.EquationInputDefinition;
public interface EquationInput
{
enum InputType
{
INTEGER, DOUBLE
}
/**
* Main purpose is to reset the previous value of a variable.
*/
default void reset()
{
}
void setTime(double time);
/**
* Main purpose is to update the previous value of a variable.
*
* It is assumed this method is called to save the current value of a variable before it is updated.
*
*/
default void updatePreviousValue()
{
}
InputType getType();
String valueAsString();
EquationInputDefinition toInputDefinition();
static ScalarVariable newVariable(InputType type)
{
return switch (type)
{
case INTEGER -> new SimpleIntegerVariable();
case DOUBLE -> new SimpleDoubleVariable();
};
}
static DoubleVariable newDoubleVariable()
{
return new SimpleDoubleVariable();
}
static IntegerVariable newIntegerVariable()
{
return new SimpleIntegerVariable();
}
static ScalarInput parseConstant(InputType type, String valueAsString)
{
return switch (type)
{
case INTEGER -> new SimpleIntegerConstant(Integer.parseInt(valueAsString));
case DOUBLE -> new SimpleDoubleConstant(Double.parseDouble(valueAsString));
};
}
interface ScalarInput extends EquationInput
{
/**
* @return the value of this input as a {@code double}.
*/
double getValueAsDouble();
/**
* @return the value of this input as an {@code int}.
*/
int getValueAsInteger();
double getValueDot();
}
interface ScalarVariable extends ScalarInput
{
}
interface DoubleInput extends ScalarInput
{
@Override
default InputType getType()
{
return InputType.DOUBLE;
}
double getTime();
double getValue();
@Override
default double getValueAsDouble()
{
return getValue();
}
@Override
default int getValueAsInteger()
{
return (int) getValue();
}
double getPreviousTime();
double getPreviousValue();
@Override
default double getValueDot()
{
if (Double.isNaN(getPreviousTime()) || getTime() == getPreviousTime())
return 0.0;
else
return (getValue() - getPreviousValue()) / (getTime() - getPreviousTime());
}
@Override
default String valueAsString()
{
return Double.toString(getValue());
}
}
interface DoubleConstant extends DoubleInput
{
@Override
default void setTime(double time)
{
}
@Override
default double getTime()
{
return Double.NaN;
}
@Override
double getValue();
@Override
default double getPreviousTime()
{
return Double.NaN;
}
@Override
default double getPreviousValue()
{
return getValue();
}
@Override
default double getValueDot()
{
return 0.0;
}
@Override
default String valueAsString()
{
return Double.toString(getValue());
}
}
interface DoubleVariable extends ScalarVariable, DoubleInput
{
void setValue(double time, double value);
}
interface IntegerInput extends ScalarInput
{
@Override
default InputType getType()
{
return InputType.INTEGER;
}
double getTime();
int getValue();
@Override
default double getValueAsDouble()
{
return getValue();
}
@Override
default int getValueAsInteger()
{
return getValue();
}
double getPreviousTime();
int getPreviousValue();
@Override
default double getValueDot()
{
if (Double.isNaN(getPreviousTime()))
return 0.0;
else
return (getValue() - getPreviousValue()) / (getTime() - getPreviousTime());
}
@Override
default String valueAsString()
{
return Integer.toString(getValue());
}
}
interface IntegerConstant extends IntegerInput
{
@Override
default void setTime(double time)
{
}
@Override
default double getTime()
{
return Double.NaN;
}
@Override
int getValue();
@Override
default double getPreviousTime()
{
return Double.NaN;
}
@Override
default int getPreviousValue()
{
return getValue();
}
@Override
default double getValueDot()
{
return 0.0;
}
@Override
default String valueAsString()
{
return Integer.toString(getValue());
}
}
interface IntegerVariable extends ScalarVariable, IntegerInput
{
void setValue(double time, int value);
}
class SimpleDoubleConstant implements DoubleConstant
{
private final double value;
public SimpleDoubleConstant(double value)
{
this.value = value;
}
@Override
public double getValue()
{
return value;
}
@Override
public EquationInputDefinition toInputDefinition()
{
return new EquationInputDefinition(Double.toString(value), true);
}
@Override
public String toString()
{
return Double.toString(value);
}
}
class SimpleDoubleVariable implements DoubleVariable
{
private double value = Double.NaN;
private double time = Double.NaN;
private double previousValue = Double.NaN;
private double previousTime = Double.NaN;
public SimpleDoubleVariable()
{
}
@Override
public void reset()
{
time = Double.NaN;
value = Double.NaN;
previousTime = Double.NaN;
previousValue = Double.NaN;
}
@Override
public void updatePreviousValue()
{
previousTime = this.time;
previousValue = value;
}
@Override
public void setTime(double time)
{
this.time = time;
}
@Override
public void setValue(double time, double value)
{
this.time = time;
this.value = value;
}
@Override
public double getTime()
{
return time;
}
@Override
public double getValue()
{
return value;
}
@Override
public double getPreviousTime()
{
return previousTime;
}
@Override
public double getPreviousValue()
{
if (Double.isNaN(previousValue))
return value;
else
return previousValue;
}
@Override
public EquationInputDefinition toInputDefinition()
{
return new EquationInputDefinition(Double.toString(value), false);
}
@Override
public String toString()
{
return Double.toString(value);
}
}
class SimpleIntegerConstant implements IntegerConstant
{
private final int value;
public SimpleIntegerConstant(int value)
{
this.value = value;
}
@Override
public int getValue()
{
return value;
}
@Override
public EquationInputDefinition toInputDefinition()
{
return new EquationInputDefinition(Integer.toString(value), true);
}
@Override
public String toString()
{
return Integer.toString(value);
}
}
class SimpleIntegerVariable implements IntegerVariable
{
private double time = Double.NaN;
private int value = Integer.MIN_VALUE;
private double previousTime = Double.NaN;
private int previousValue = Integer.MIN_VALUE;
public SimpleIntegerVariable()
{
}
@Override
public void reset()
{
time = Double.NaN;
value = Integer.MIN_VALUE;
previousTime = Double.NaN;
previousValue = Integer.MIN_VALUE;
}
@Override
public void updatePreviousValue()
{
previousTime = this.time;
previousValue = value;
}
@Override
public void setTime(double time)
{
this.time = time;
}
@Override
public void setValue(double time, int value)
{
this.time = time;
this.value = value;
}
@Override
public double getTime()
{
return time;
}
@Override
public int getValue()
{
return value;
}
@Override
public double getPreviousTime()
{
return previousTime;
}
@Override
public int getPreviousValue()
{
if (previousValue == Integer.MIN_VALUE)
return value;
else
return previousValue;
}
@Override
public EquationInputDefinition toInputDefinition()
{
return new EquationInputDefinition(Integer.toString(value), false);
}
@Override
public String toString()
{
return Integer.toString(value);
}
}
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