1 | /* Class OpenLoop
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2 | *
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3 | * This class supports the creation of a path of Black Boxes
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4 | * i.e. of instances of BlackBox and of any of its subclasses,
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5 | * e.g. PropIntDeriv, FirstOrder, and the methods to combine
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6 | * these into both a single instance of BlackBox and a Vector
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7 | * of analogue segments, digital segments and converters.
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8 | *
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9 | * Author: Michael Thomas Flanagan.
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10 | *
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11 | * Created: August 2002
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12 | * Updated: 12 July 2003, 10 May 2005, 2 July 2006, 7 June 2007, 6 April 2008, 5 July 2008, 2-7 November 2009
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13 | *
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14 | * DOCUMENTATION:
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15 | * See Michael T Flanagan's JAVA library on-line web page:
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16 | * http://www.ee.ucl.ac.uk/~mflanaga/java/OpenLoop.html
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17 | * http://www.ee.ucl.ac.uk/~mflanaga/java/
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18 | *
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19 | *
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20 | * Copyright (c) 2002 - 2009 Michael Thomas Flanagan
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21 | *
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22 | * PERMISSION TO COPY:
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23 | * Permission to use, copy and modify this software and its documentation for
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24 | * NON-COMMERCIAL purposes is granted, without fee, provided that an acknowledgement
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25 | * to the author, Michael Thomas Flanagan at www.ee.ucl.ac.uk/~mflanaga, appears in all copies.
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26 | *
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27 | * Dr Michael Thomas Flanagan makes no representations about the suitability
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28 | * or fitness of the software for any or for a particular purpose.
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29 | * Michael Thomas Flanagan shall not be liable for any damages suffered
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30 | * as a result of using, modifying or distributing this software or its derivatives.
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31 | *
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32 | ***************************************************************************************/
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33 |
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34 | package agents.anac.y2015.agentBuyogV2.flanagan.control;
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35 |
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36 | import java.util.ArrayList;
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37 | import java.util.Vector;
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38 |
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39 | import agents.anac.y2015.agentBuyogV2.flanagan.complex.Complex;
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40 | import agents.anac.y2015.agentBuyogV2.flanagan.complex.ComplexPoly;
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41 |
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42 | public class OpenLoop extends BlackBox{
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43 | private ArrayList<BlackBox> openPath = new ArrayList<BlackBox>(); // open path boxes
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44 | private ArrayList<Object> segments = new ArrayList<Object>(); // start of segment, end of segment, type of each segment, i.e. analogue, digital, AtoD, DtoA, ZOH
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45 |
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46 | private int nBoxes = 0; // number of boxes in original path
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47 | private int nSeg = 0; // number of analogue, digital, AtoD, ZOH segments
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48 |
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49 | private boolean checkPath = false; // true if segment has been called
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50 | private boolean checkNoMix = true; // true - no ADC or DAC
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51 | private boolean checkConsolidate = false; // true if consolidate has been called
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52 |
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53 | private boolean[] adcs = null; // true if box = ADC
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54 | private boolean[] dacs = null; // true ifbox = DAC
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55 | private boolean[] zeroHolds = null; // true ifbox = Zero Order Hold
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56 |
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57 | // Constructor
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58 | public OpenLoop(){
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59 | super("OpenLoop");
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60 | }
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61 |
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62 | // Add box to the open path
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63 | public void addBoxToPath(BlackBox box){
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64 | this.openPath.add(box);
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65 | this.nBoxes++;
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66 | }
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67 |
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68 | // Consolidate all boxes into appropriate segments and combine all boxes into one box
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69 | public void consolidate(){
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70 | // Empty segments ArrayList if openPath ArrayList has been updated
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71 | if(!segments.isEmpty()){
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72 | segments.clear();
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73 | this.nBoxes = 0;
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74 | this.nSeg = 0;
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75 | this.checkNoMix = true;
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76 | this.checkPath = false;
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77 | }
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78 |
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79 | // Find analogue, digital and conversion segments in OpenLoop
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80 | this.segment();
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81 |
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82 | // Combine all boxes into a single box and make this instance that combined box
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83 | BlackBox aa = null;
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84 | if(this.nSeg==1){
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85 | if(this.nBoxes==1){
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86 | aa = (BlackBox) this.openPath.get(0);
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87 | }
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88 | else{
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89 | aa = (BlackBox) this.segments.get(3);
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90 | }
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91 | }
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92 | else{
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93 | aa = this.combineSegment(0, this.nBoxes);
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94 | }
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95 | super.sNumer = aa.sNumer.copy();
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96 | super.sDenom = aa.sDenom.copy();
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97 | super.sNumerPade = aa.sNumerPade.copy();
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98 | super.sDenomPade = aa.sDenomPade.copy();
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99 | super.sNumerDeg = aa.sNumerDeg;
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100 | super.sDenomDeg = aa.sDenomDeg;
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101 | super.sNumerDegPade = aa.sNumerDegPade;
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102 | super.sDenomDegPade = aa.sDenomDegPade;
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103 | super.sNumerSet = true;
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104 | super.sDenomSet = true;
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105 | super.deadTime = aa.deadTime;
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106 | super.sZeros = Complex.copy(aa.sZeros);
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107 | super.sPoles = Complex.copy(aa.sPoles);
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108 | super.sZerosPade = Complex.copy(aa.sZerosPade);
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109 | super.sPolesPade = Complex.copy(aa.sPolesPade);
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110 | super.padeAdded=true;
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111 | if(super.sNumerDeg==0){
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112 | super.sNumerScaleFactor = super.sNumer.coeffCopy(0);
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113 | }
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114 | else{
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115 | super.sNumerScaleFactor = BlackBox.scaleFactor(super.sNumer, super.sZeros);
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116 | }
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117 | if(super.sDenomDeg==0){
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118 | super.sDenomScaleFactor = super.sDenom.coeffCopy(0);
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119 | }
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120 | else{
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121 | super.sDenomScaleFactor = BlackBox.scaleFactor(super.sDenom, super.sPoles);
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122 | }
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123 | this.checkConsolidate = true;
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124 | }
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125 |
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126 | // Find analogue and digital segments
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127 | public void segment(){
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128 | // Find ADCs, DACs and ZeroOrderHolds
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129 | this.adcs = new boolean[nBoxes];
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130 | int nADCs = 0;
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131 | this.dacs = new boolean[nBoxes];
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132 | int nDACs = 0;
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133 | this.zeroHolds = new boolean[nBoxes];
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134 | int nZeroHolds = 0;
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135 | String thisName = null;
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136 | for(int i=0; i<nBoxes; i++){
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137 | adcs[i] = false;
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138 | dacs[i] = false;
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139 | zeroHolds[i] = false;
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140 | BlackBox aa = openPath.get(i);
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141 | thisName = aa.fixedName;
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142 | if(thisName.equals("ADC")){
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143 | adcs[i]=true;
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144 | nADCs++;
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145 | }
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146 | else{
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147 | if(thisName.equals("DAC")){
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148 | dacs[i]=true;
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149 | nDACs++;
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150 | }
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151 | else{
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152 | if(thisName.equals("ZeroOrderHold")){
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153 | zeroHolds[i]=true;
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154 | nZeroHolds++;
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155 | }
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156 | }
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157 | }
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158 | }
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159 |
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160 | if(nADCs==0 && nDACs==0){
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161 | this.nSeg = 1; // number of analogue, digital, AtoD, ZOH segments
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162 | this.checkNoMix = true; // true - no ADC or DAC
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163 | this.checkPath = true; // true if segment has been called
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164 | this.segments.add(new Integer(0));
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165 | this.segments.add(new Integer(nBoxes-1));
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166 | this.segments.add("analogue");
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167 | BlackBox bb = this.combineSegment(0, nBoxes-1);
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168 | this.segments.add(bb);
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169 | }
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170 | else{
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171 | this.nSeg = 0;
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172 | int adc0 = 0;
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173 | int dac0 = 0;
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174 | boolean adcFirst = false;
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175 | if(nADCs>0 && nDACs>0){
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176 | // first adc or dac
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177 | boolean test0 = true;
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178 | adc0 = 0;
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179 | while(test0){
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180 | if(adcs[adc0]){
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181 | test0 = false;
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182 | }
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183 | else{
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184 | adc0++;
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185 | if(adc0>=nBoxes){
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186 | test0 = false;
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187 | }
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188 | }
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189 | }
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190 | test0 = true;
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191 | while(test0){
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192 | if(dacs[dac0]){
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193 | test0 = false;
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194 | }
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195 | else{
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196 | dac0++;
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197 | if(dac0>=nBoxes){
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198 | test0 = false;
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199 | }
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200 | }
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201 | }
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202 | if(adc0<dac0)adcFirst =true;
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203 | }
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204 | else{
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205 | if(nADCs>0)adcFirst=true;
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206 | }
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207 | boolean adswitch = adcFirst;
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208 | this.nSeg++;
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209 |
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210 | int nextStart = 0;
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211 | if(adcFirst){
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212 | this.segments.add(new Integer(0));
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213 | this.segments.add(new Integer(adc0));
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214 | this.segments.add("digital");
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215 | BlackBox bb = this.combineSegment(0, adc0);
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216 | this.segments.add(bb);
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217 | nextStart = adc0+1;
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218 | }
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219 | else{
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220 | this.segments.add(new Integer(0));
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221 | this.segments.add(new Integer(dac0));
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222 | this.segments.add("analogue");
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223 | BlackBox bb = this.combineSegment(0, dac0);
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224 | this.segments.add(bb);
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225 | nextStart = dac0+1;
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226 | }
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227 |
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228 | // Find all analogue and digital segments
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229 | boolean test1 = true;
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230 | if(nextStart>=this.nBoxes)test1 = false;
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231 | while(test1){
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232 | if(adswitch){
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233 | nextStart = nextDigitalSegment(nextStart);
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234 | adswitch = false;
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235 | }
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236 | else{
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237 | nextStart = nextAnalogueSegment(nextStart);
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238 | adswitch = true;
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239 | }
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240 | if(nextStart>=this.nBoxes)test1 = false;
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241 | }
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242 |
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243 | }
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244 |
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245 |
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246 |
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247 | }
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248 |
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249 | // Find next digital segment
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250 | private int nextDigitalSegment(int box0){
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251 | // next adc
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252 | int nextAdc = nBoxes;
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253 | boolean endFound = false;
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254 | boolean test = true;
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255 | int ii = box0;
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256 | while(test){
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257 | if(this.adcs[ii]){
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258 | nextAdc = ii;
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259 | test = false;
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260 | }
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261 | else{
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262 | ii++;
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263 | if(ii>=nBoxes)test = false;
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264 | }
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265 | }
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266 |
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267 | // next dac
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268 | int nextDac = nBoxes;
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269 | test = true;
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270 | ii = box0;
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271 | while(test){
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272 | if(dacs[ii]){
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273 | nextDac = ii;
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274 | test = false;
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275 | }
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276 | else{
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277 | ii++;
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278 | if(ii>=nBoxes){
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279 | test = false;
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280 | endFound = true;
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281 | }
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282 | }
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283 | }
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284 | if(endFound)nextDac = nBoxes-1;
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285 | if(nextAdc<nextDac)throw new IllegalArgumentException("Two consecutive ADCs with no intervening DAC");
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286 | this.nSeg++;
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287 | this.segments.add(new Integer(0));
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288 | this.segments.add(new Integer(nextDac));
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289 | this.segments.add("digital");
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290 | BlackBox bb = this.combineSegment(0, nextDac);
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291 | this.segments.add(bb);
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292 |
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293 | return nextDac + 1;
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294 | }
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295 |
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296 | // Find next analogue segment
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297 | private int nextAnalogueSegment(int box0){
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298 | // next adc
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299 | int nextAdc = nBoxes;
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300 | boolean endFound = false;
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301 | boolean test = true;
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302 | int ii = box0;
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303 | while(test){
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304 | if(this.adcs[ii]){
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305 | nextAdc = ii;
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306 | test = false;
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307 | }
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308 | else{
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309 | ii++;
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310 | if(ii>=nBoxes){
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311 | test = false;
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312 | endFound = true;
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313 | }
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314 | }
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315 | }
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316 |
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317 | // next dac
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318 | int nextDac = nBoxes;
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319 | test = true;
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320 | ii = box0;
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321 | while(test){
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322 | if(dacs[ii]){
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323 | nextDac = ii;
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324 | test = false;
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325 | }
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326 | else{
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327 | ii++;
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328 | if(ii>=nBoxes){
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329 | test = false;
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330 | }
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331 | }
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332 | }
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333 | if(endFound)nextAdc = nBoxes-1;
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334 | if(nextDac<nextAdc)throw new IllegalArgumentException("Two consecutive DACs with no intervening ADC");
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335 | this.nSeg++;
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336 | this.segments.add(new Integer(0));
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337 | this.segments.add(new Integer(nextAdc));
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338 | this.segments.add("digital");
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339 | BlackBox bb = this.combineSegment(0, nextAdc);
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340 | this.segments.add(bb);
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341 |
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342 | return nextAdc+1;
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343 | }
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344 |
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345 | // Combine all boxes between iLow and iHigh into one box
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346 | public BlackBox combineSegment(int iLow, int iHigh){
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347 | ArrayList<Complex> zeros = new ArrayList<Complex>();
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348 | ArrayList<Complex> poles = new ArrayList<Complex>();
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349 | ArrayList<Complex> zerosPade = new ArrayList<Complex>();
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350 | ArrayList<Complex> polesPade = new ArrayList<Complex>();
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351 |
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352 |
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353 | BlackBox aa = new BlackBox(); // Black Box to be returned
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354 |
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355 | int nBoxSeg = iHigh - iLow + 1; // number of boxes in segment
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356 |
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357 | BlackBox bb = openPath.get(iLow); // first box in segment
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358 | if(!bb.padeAdded)bb.transferPolesZeros();
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359 |
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360 | aa.sNumerPade = bb.sNumerPade.copy();
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361 | aa.sDenomPade = bb.sDenomPade.copy();
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362 | aa.sNumer = bb.sNumer.copy();
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363 | aa.sDenom = bb.sDenom.copy();
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364 |
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365 | aa.sNumerDegPade = bb.sNumerDegPade;
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366 | aa.sDenomDegPade = bb.sDenomDegPade;
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367 | aa.sNumerDeg = bb.sNumerDeg;
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368 | aa.sDenomDeg = bb.sDenomDeg;
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369 |
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370 | if(aa.sNumerDegPade>0){
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371 | Complex[] bbsZerosPade = Complex.copy(bb.sZerosPade);
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372 | for(int i=0; i<aa.sNumerDegPade; i++)zerosPade.add(bbsZerosPade[i]);
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373 | }
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374 | if(aa.sDenomDegPade>0){
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375 | Complex[] bbsPolesPade = Complex.copy(bb.sPolesPade);
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376 | for(int i=0; i<aa.sDenomDegPade; i++)polesPade.add(bbsPolesPade[i]);
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377 | }
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378 | if(aa.sNumerDeg>0){
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379 | Complex[] bbsZeros = Complex.copy(bb.sZeros);
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380 | for(int i=0; i<aa.sNumerDeg; i++)zeros.add(bbsZeros[i]);
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381 | }
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382 | if(aa.sDenomDeg>0){
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383 | Complex[] bbsPoles = Complex.copy(bb.sPoles);
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384 | for(int i=0; i<aa.sDenomDeg; i++)poles.add(bbsPoles[i]);
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385 | }
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386 |
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387 | aa.deadTime = bb.deadTime;
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388 | aa.sNumerScaleFactor = bb.sNumerScaleFactor.copy();
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389 | aa.sDenomScaleFactor = bb.sDenomScaleFactor.copy();
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390 |
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391 | for(int i=1; i<nBoxSeg; i++){
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392 | bb = this.openPath.get(i+iLow);
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393 | if(!bb.padeAdded)bb.transferPolesZeros();
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394 | if(aa.sNumerPade==null){
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395 | if(bb.sNumerPade!=null){
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396 | aa.sNumerPade = bb.sNumerPade.copy();
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397 | }
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398 | }
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399 | else{
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400 | if(bb.sNumerPade!=null){
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401 | aa.sNumerPade = aa.sNumerPade.times(bb.sNumerPade);
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402 | }
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403 | }
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404 |
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405 | if(aa.sNumer==null){
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406 | if(bb.sNumer!=null){
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407 | aa.sNumer = bb.sNumer.copy();
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408 | }
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409 | }
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410 | else{
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411 | if(bb.sNumer!=null){
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412 | aa.sNumer = aa.sNumer.times(bb.sNumer);
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413 | }
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414 | }
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415 |
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416 | if(aa.sDenom==null){
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417 | if(bb.sDenom!=null){
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418 | aa.sDenom = bb.sDenom.copy();
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419 | }
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420 | }
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421 | else{
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422 | if(bb.sDenom!=null){
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423 | aa.sDenom = aa.sDenom.times(bb.sDenom);
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424 | }
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425 | }
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426 |
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427 | if(aa.sDenomPade==null){
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428 | if(bb.sDenomPade!=null){
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429 | aa.sDenomPade = bb.sDenomPade.copy();
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430 | }
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431 | }
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432 | else{
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433 | if(bb.sDenomPade!=null){
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434 | aa.sDenomPade = aa.sDenomPade.times(bb.sDenomPade);
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435 | }
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436 | }
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437 |
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438 | aa.sNumerDegPade += bb.sNumerDegPade;
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439 | aa.sDenomDegPade += bb.sDenomDegPade;
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440 | aa.sNumerDeg += bb.sNumerDeg;
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441 | aa.sDenomDeg += bb.sDenomDeg;
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442 |
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443 | aa.sNumerScaleFactor = bb.sNumerScaleFactor.times(aa.sNumerScaleFactor);
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444 | aa.sDenomScaleFactor = bb.sDenomScaleFactor.times(aa.sDenomScaleFactor);
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445 |
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446 | aa.deadTime += bb.deadTime;
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447 |
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448 | if(bb.sNumerDegPade>0){
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449 | Complex[] bbsZerosPade = Complex.copy(bb.sZerosPade);
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450 | for(int ii=0; ii<bb.sNumerDegPade; ii++)zerosPade.add(bbsZerosPade[ii]);
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451 | }
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452 | if(bb.sDenomDegPade>0){
|
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453 | Complex[] bbsPolesPade = Complex.copy(bb.sPolesPade);
|
---|
454 | for(int ii=0; ii<bb.sDenomDegPade; ii++)polesPade.add(bbsPolesPade[ii]);
|
---|
455 | }
|
---|
456 | if(bb.sNumerDeg>0){
|
---|
457 | Complex[] bbsZeros = Complex.copy(bb.sZeros);
|
---|
458 | for(int ii=0; ii<bb.sNumerDeg; ii++)zeros.add(bbsZeros[ii]);
|
---|
459 | }
|
---|
460 | if(bb.sDenomDeg>0){
|
---|
461 | Complex[] bbsPoles = Complex.copy(bb.sPoles);
|
---|
462 | for(int ii=0; ii<bb.sDenomDeg; ii++)poles.add(bbsPoles[ii]);
|
---|
463 | }
|
---|
464 | }
|
---|
465 |
|
---|
466 | if(aa.sNumerDegPade>0){
|
---|
467 | aa.sZerosPade = Complex.oneDarray(aa.sNumerDegPade);
|
---|
468 | for(int ii=0; ii<aa.sNumerDegPade; ii++)aa.sZerosPade[ii] = zerosPade.get(ii);
|
---|
469 | }
|
---|
470 | if(aa.sDenomDegPade>0){
|
---|
471 | aa.sPolesPade = Complex.oneDarray(aa.sDenomDegPade);
|
---|
472 | for(int ii=0; ii<aa.sDenomDegPade; ii++)aa.sPolesPade[ii] = polesPade.get(ii);
|
---|
473 | }
|
---|
474 | if(aa.sNumerDeg>0){
|
---|
475 | aa.sZeros = Complex.oneDarray(aa.sNumerDeg);
|
---|
476 | for(int ii=0; ii<aa.sNumerDeg; ii++)aa.sZeros[ii] = zeros.get(ii);
|
---|
477 | }
|
---|
478 | if(aa.sDenomDeg>0){
|
---|
479 | aa.sPoles = Complex.oneDarray(aa.sDenomDeg);
|
---|
480 | for(int ii=0; ii<aa.sDenomDeg; ii++)aa.sPoles[ii] = poles.get(ii);
|
---|
481 | }
|
---|
482 | return aa;
|
---|
483 |
|
---|
484 | }
|
---|
485 |
|
---|
486 | // Return number of boxes in path
|
---|
487 | public int getNumberOfBoxes(){
|
---|
488 | if(!checkConsolidate)this.consolidate();
|
---|
489 | return this.nBoxes;
|
---|
490 | }
|
---|
491 |
|
---|
492 | // Return segment ArrayList
|
---|
493 | public ArrayList<Object> getSegmentsArrayList(){
|
---|
494 | if(!checkConsolidate)this.consolidate();
|
---|
495 | return this.segments;
|
---|
496 | }
|
---|
497 |
|
---|
498 | // Return segment Vector
|
---|
499 | public Vector<Object> getSegmentsVector(){
|
---|
500 | if(!checkConsolidate)this.consolidate();
|
---|
501 | ArrayList<Object> seg = this.segments;
|
---|
502 | Vector<Object> ret = null;
|
---|
503 | if(seg!=null){
|
---|
504 | int n = seg.size();
|
---|
505 | ret = new Vector<Object>(n);
|
---|
506 | for(int i=0; i<n; i++)ret.addElement(seg.get(i));
|
---|
507 | }
|
---|
508 | return ret;
|
---|
509 | }
|
---|
510 |
|
---|
511 | // Return number of segments in path
|
---|
512 | public int getNumberOfSegments(){
|
---|
513 | if(!checkConsolidate)this.consolidate();
|
---|
514 | return this.nSeg;
|
---|
515 | }
|
---|
516 |
|
---|
517 | // Return name of all boxes in path
|
---|
518 | public String getNamesOfBoxes(){
|
---|
519 | if(!checkConsolidate)this.consolidate();
|
---|
520 | String names = "";
|
---|
521 | for(int i=0; i<this.nBoxes; i++){
|
---|
522 | BlackBox bb = openPath.get(i);
|
---|
523 | names = names + i +": "+bb.getName() + " ";
|
---|
524 | }
|
---|
525 | return names;
|
---|
526 | }
|
---|
527 |
|
---|
528 | // Remove all boxes from the path
|
---|
529 | public void removeAllBoxes(){
|
---|
530 | // Empty openPath ArrayList
|
---|
531 | if(!openPath.isEmpty()){
|
---|
532 | openPath.clear();
|
---|
533 | }
|
---|
534 |
|
---|
535 | // Empty segments ArrayList
|
---|
536 | if(!segments.isEmpty()){
|
---|
537 | segments.clear();
|
---|
538 | }
|
---|
539 | this.nSeg = 0;
|
---|
540 | this.checkNoMix = true;
|
---|
541 | this.checkPath = false;
|
---|
542 | this.nBoxes = 0;
|
---|
543 | this.checkConsolidate = false;
|
---|
544 | this.adcs = null;
|
---|
545 | this.dacs = null;
|
---|
546 | this.zeroHolds = null;
|
---|
547 |
|
---|
548 | }
|
---|
549 |
|
---|
550 | // return checkNoMix
|
---|
551 | public boolean getCheckNoMix(){
|
---|
552 | return this.checkNoMix;
|
---|
553 | }
|
---|
554 |
|
---|
555 |
|
---|
556 | // Deep copy
|
---|
557 | public OpenLoop copy(){
|
---|
558 | if(this==null){
|
---|
559 | return null;
|
---|
560 | }
|
---|
561 | else{
|
---|
562 | OpenLoop bb = new OpenLoop();
|
---|
563 | this.copyBBvariables(bb);
|
---|
564 |
|
---|
565 | bb.nBoxes = this.nBoxes;
|
---|
566 | bb.nSeg = this.nSeg;
|
---|
567 | bb.checkPath = this.checkPath;
|
---|
568 | bb.checkNoMix = this.checkNoMix;
|
---|
569 | bb.checkConsolidate = this.checkConsolidate;
|
---|
570 | if(this.openPath.size()==0){
|
---|
571 | bb.openPath = new ArrayList<BlackBox>();
|
---|
572 | }
|
---|
573 | else{
|
---|
574 | for(int i=0; i<openPath.size(); i++)bb.openPath.add((this.openPath.get(i)).copy());
|
---|
575 | }
|
---|
576 | if(this.segments.size()==0){
|
---|
577 | bb.segments = new ArrayList<Object>();
|
---|
578 | }
|
---|
579 | else{
|
---|
580 | int j=0;
|
---|
581 | for(int i=0; i<this.nSeg; i++){
|
---|
582 | Integer holdI1 = (Integer)this.segments.get(j);
|
---|
583 | int ii = holdI1.intValue();
|
---|
584 | bb.segments.add(new Integer(ii));
|
---|
585 | j++;
|
---|
586 | Integer holdI2 = (Integer)this.segments.get(j);
|
---|
587 | ii = holdI2.intValue();
|
---|
588 | bb.segments.add(new Integer(ii));
|
---|
589 | j++;
|
---|
590 | String holdS = (String)this.segments.get(j);
|
---|
591 | bb.segments.add(holdS);
|
---|
592 | j++;
|
---|
593 | bb.segments.add(((BlackBox)this.segments.get(j)).copy());
|
---|
594 | j++;
|
---|
595 | }
|
---|
596 | }
|
---|
597 |
|
---|
598 | return bb;
|
---|
599 | }
|
---|
600 | }
|
---|
601 |
|
---|
602 | // Clone - overrides Java.Object method clone
|
---|
603 | public Object clone(){
|
---|
604 | return (Object)this.copy();
|
---|
605 | }
|
---|
606 | }
|
---|