1 | /*
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2 | * Licensed to the Apache Software Foundation (ASF) under one or more
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3 | * contributor license agreements. See the NOTICE file distributed with
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4 | * this work for additional information regarding copyright ownership.
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5 | * The ASF licenses this file to You under the Apache License, Version 2.0
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6 | * (the "License"); you may not use this file except in compliance with
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7 | * the License. You may obtain a copy of the License at
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8 | *
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9 | * http://www.apache.org/licenses/LICENSE-2.0
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10 | *
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11 | * Unless required by applicable law or agreed to in writing, software
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12 | * distributed under the License is distributed on an "AS IS" BASIS,
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13 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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14 | * See the License for the specific language governing permissions and
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15 | * limitations under the License.
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16 | */
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17 |
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18 | package agents.anac.y2019.harddealer.math3.ode;
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19 |
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20 | import java.util.ArrayList;
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21 | import java.util.Collection;
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22 | import java.util.Collections;
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23 | import java.util.Comparator;
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24 | import java.util.Iterator;
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25 | import java.util.List;
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26 | import java.util.SortedSet;
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27 | import java.util.TreeSet;
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28 |
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29 | import agents.anac.y2019.harddealer.math3.Field;
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30 | import agents.anac.y2019.harddealer.math3.RealFieldElement;
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31 | import agents.anac.y2019.harddealer.math3.analysis.solvers.BracketedRealFieldUnivariateSolver;
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32 | import agents.anac.y2019.harddealer.math3.analysis.solvers.FieldBracketingNthOrderBrentSolver;
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33 | import agents.anac.y2019.harddealer.math3.exception.DimensionMismatchException;
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34 | import agents.anac.y2019.harddealer.math3.exception.MaxCountExceededException;
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35 | import agents.anac.y2019.harddealer.math3.exception.NoBracketingException;
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36 | import agents.anac.y2019.harddealer.math3.exception.NumberIsTooSmallException;
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37 | import agents.anac.y2019.harddealer.math3.exception.util.LocalizedFormats;
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38 | import agents.anac.y2019.harddealer.math3.ode.events.FieldEventHandler;
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39 | import agents.anac.y2019.harddealer.math3.ode.events.FieldEventState;
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40 | import agents.anac.y2019.harddealer.math3.ode.sampling.AbstractFieldStepInterpolator;
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41 | import agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepHandler;
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42 | import agents.anac.y2019.harddealer.math3.util.FastMath;
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43 | import agents.anac.y2019.harddealer.math3.util.IntegerSequence;
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44 |
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45 | /**
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46 | * Base class managing common boilerplate for all integrators.
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47 | * @param <T> the type of the field elements
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48 | * @since 3.6
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49 | */
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50 | public abstract class AbstractFieldIntegrator<T extends RealFieldElement<T>> implements FirstOrderFieldIntegrator<T> {
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51 |
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52 | /** Default relative accuracy. */
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53 | private static final double DEFAULT_RELATIVE_ACCURACY = 1e-14;
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54 |
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55 | /** Default function value accuracy. */
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56 | private static final double DEFAULT_FUNCTION_VALUE_ACCURACY = 1e-15;
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57 |
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58 | /** Step handler. */
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59 | private Collection<FieldStepHandler<T>> stepHandlers;
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60 |
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61 | /** Current step start. */
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62 | private FieldODEStateAndDerivative<T> stepStart;
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63 |
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64 | /** Current stepsize. */
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65 | private T stepSize;
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66 |
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67 | /** Indicator for last step. */
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68 | private boolean isLastStep;
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69 |
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70 | /** Indicator that a state or derivative reset was triggered by some event. */
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71 | private boolean resetOccurred;
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72 |
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73 | /** Field to which the time and state vector elements belong. */
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74 | private final Field<T> field;
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75 |
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76 | /** Events states. */
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77 | private Collection<FieldEventState<T>> eventsStates;
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78 |
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79 | /** Initialization indicator of events states. */
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80 | private boolean statesInitialized;
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81 |
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82 | /** Name of the method. */
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83 | private final String name;
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84 |
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85 | /** Counter for number of evaluations. */
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86 | private IntegerSequence.Incrementor evaluations;
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87 |
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88 | /** Differential equations to integrate. */
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89 | private transient FieldExpandableODE<T> equations;
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90 |
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91 | /** Build an instance.
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92 | * @param field field to which the time and state vector elements belong
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93 | * @param name name of the method
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94 | */
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95 | protected AbstractFieldIntegrator(final Field<T> field, final String name) {
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96 | this.field = field;
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97 | this.name = name;
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98 | stepHandlers = new ArrayList<FieldStepHandler<T>>();
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99 | stepStart = null;
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100 | stepSize = null;
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101 | eventsStates = new ArrayList<FieldEventState<T>>();
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102 | statesInitialized = false;
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103 | evaluations = IntegerSequence.Incrementor.create().withMaximalCount(Integer.MAX_VALUE);
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104 | }
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105 |
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106 | /** Get the field to which state vector elements belong.
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107 | * @return field to which state vector elements belong
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108 | */
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109 | public Field<T> getField() {
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110 | return field;
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111 | }
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112 |
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113 | /** {@inheritDoc} */
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114 | public String getName() {
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115 | return name;
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116 | }
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117 |
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118 | /** {@inheritDoc} */
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119 | public void addStepHandler(final FieldStepHandler<T> handler) {
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120 | stepHandlers.add(handler);
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121 | }
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122 |
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123 | /** {@inheritDoc} */
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124 | public Collection<FieldStepHandler<T>> getStepHandlers() {
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125 | return Collections.unmodifiableCollection(stepHandlers);
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126 | }
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127 |
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128 | /** {@inheritDoc} */
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129 | public void clearStepHandlers() {
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130 | stepHandlers.clear();
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131 | }
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132 |
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133 | /** {@inheritDoc} */
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134 | public void addEventHandler(final FieldEventHandler<T> handler,
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135 | final double maxCheckInterval,
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136 | final double convergence,
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137 | final int maxIterationCount) {
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138 | addEventHandler(handler, maxCheckInterval, convergence,
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139 | maxIterationCount,
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140 | new FieldBracketingNthOrderBrentSolver<T>(field.getZero().add(DEFAULT_RELATIVE_ACCURACY),
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141 | field.getZero().add(convergence),
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142 | field.getZero().add(DEFAULT_FUNCTION_VALUE_ACCURACY),
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143 | 5));
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144 | }
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145 |
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146 | /** {@inheritDoc} */
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147 | public void addEventHandler(final FieldEventHandler<T> handler,
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148 | final double maxCheckInterval,
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149 | final double convergence,
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150 | final int maxIterationCount,
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151 | final BracketedRealFieldUnivariateSolver<T> solver) {
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152 | eventsStates.add(new FieldEventState<T>(handler, maxCheckInterval, field.getZero().add(convergence),
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153 | maxIterationCount, solver));
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154 | }
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155 |
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156 | /** {@inheritDoc} */
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157 | public Collection<FieldEventHandler<T>> getEventHandlers() {
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158 | final List<FieldEventHandler<T>> list = new ArrayList<FieldEventHandler<T>>(eventsStates.size());
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159 | for (FieldEventState<T> state : eventsStates) {
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160 | list.add(state.getEventHandler());
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161 | }
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162 | return Collections.unmodifiableCollection(list);
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163 | }
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164 |
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165 | /** {@inheritDoc} */
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166 | public void clearEventHandlers() {
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167 | eventsStates.clear();
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168 | }
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169 |
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170 | /** {@inheritDoc} */
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171 | public FieldODEStateAndDerivative<T> getCurrentStepStart() {
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172 | return stepStart;
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173 | }
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174 |
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175 | /** {@inheritDoc} */
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176 | public T getCurrentSignedStepsize() {
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177 | return stepSize;
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178 | }
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179 |
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180 | /** {@inheritDoc} */
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181 | public void setMaxEvaluations(int maxEvaluations) {
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182 | evaluations = evaluations.withMaximalCount((maxEvaluations < 0) ? Integer.MAX_VALUE : maxEvaluations);
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183 | }
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184 |
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185 | /** {@inheritDoc} */
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186 | public int getMaxEvaluations() {
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187 | return evaluations.getMaximalCount();
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188 | }
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189 |
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190 | /** {@inheritDoc} */
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191 | public int getEvaluations() {
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192 | return evaluations.getCount();
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193 | }
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194 |
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195 | /** Prepare the start of an integration.
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196 | * @param eqn equations to integrate
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197 | * @param t0 start value of the independent <i>time</i> variable
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198 | * @param y0 array containing the start value of the state vector
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199 | * @param t target time for the integration
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200 | * @return initial state with derivatives added
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201 | */
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202 | protected FieldODEStateAndDerivative<T> initIntegration(final FieldExpandableODE<T> eqn,
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203 | final T t0, final T[] y0, final T t) {
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204 |
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205 | this.equations = eqn;
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206 | evaluations = evaluations.withStart(0);
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207 |
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208 | // initialize ODE
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209 | eqn.init(t0, y0, t);
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210 |
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211 | // set up derivatives of initial state
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212 | final T[] y0Dot = computeDerivatives(t0, y0);
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213 | final FieldODEStateAndDerivative<T> state0 = new FieldODEStateAndDerivative<T>(t0, y0, y0Dot);
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214 |
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215 | // initialize event handlers
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216 | for (final FieldEventState<T> state : eventsStates) {
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217 | state.getEventHandler().init(state0, t);
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218 | }
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219 |
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220 | // initialize step handlers
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221 | for (FieldStepHandler<T> handler : stepHandlers) {
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222 | handler.init(state0, t);
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223 | }
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224 |
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225 | setStateInitialized(false);
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226 |
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227 | return state0;
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228 |
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229 | }
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230 |
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231 | /** Get the differential equations to integrate.
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232 | * @return differential equations to integrate
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233 | */
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234 | protected FieldExpandableODE<T> getEquations() {
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235 | return equations;
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236 | }
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237 |
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238 | /** Get the evaluations counter.
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239 | * @return evaluations counter
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240 | */
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241 | protected IntegerSequence.Incrementor getEvaluationsCounter() {
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242 | return evaluations;
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243 | }
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244 |
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245 | /** Compute the derivatives and check the number of evaluations.
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246 | * @param t current value of the independent <I>time</I> variable
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247 | * @param y array containing the current value of the state vector
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248 | * @return state completed with derivatives
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249 | * @exception DimensionMismatchException if arrays dimensions do not match equations settings
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250 | * @exception MaxCountExceededException if the number of functions evaluations is exceeded
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251 | * @exception NullPointerException if the ODE equations have not been set (i.e. if this method
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252 | * is called outside of a call to {@link #integrate(FieldExpandableODE, FieldODEState,
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253 | * RealFieldElement) integrate}
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254 | */
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255 | public T[] computeDerivatives(final T t, final T[] y)
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256 | throws DimensionMismatchException, MaxCountExceededException, NullPointerException {
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257 | evaluations.increment();
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258 | return equations.computeDerivatives(t, y);
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259 | }
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260 |
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261 | /** Set the stateInitialized flag.
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262 | * <p>This method must be called by integrators with the value
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263 | * {@code false} before they start integration, so a proper lazy
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264 | * initialization is done automatically on the first step.</p>
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265 | * @param stateInitialized new value for the flag
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266 | */
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267 | protected void setStateInitialized(final boolean stateInitialized) {
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268 | this.statesInitialized = stateInitialized;
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269 | }
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270 |
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271 | /** Accept a step, triggering events and step handlers.
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272 | * @param interpolator step interpolator
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273 | * @param tEnd final integration time
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274 | * @return state at end of step
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275 | * @exception MaxCountExceededException if the interpolator throws one because
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276 | * the number of functions evaluations is exceeded
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277 | * @exception NoBracketingException if the location of an event cannot be bracketed
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278 | * @exception DimensionMismatchException if arrays dimensions do not match equations settings
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279 | */
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280 | protected FieldODEStateAndDerivative<T> acceptStep(final AbstractFieldStepInterpolator<T> interpolator,
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281 | final T tEnd)
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282 | throws MaxCountExceededException, DimensionMismatchException, NoBracketingException {
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283 |
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284 | FieldODEStateAndDerivative<T> previousState = interpolator.getGlobalPreviousState();
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285 | final FieldODEStateAndDerivative<T> currentState = interpolator.getGlobalCurrentState();
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286 |
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287 | // initialize the events states if needed
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288 | if (! statesInitialized) {
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289 | for (FieldEventState<T> state : eventsStates) {
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290 | state.reinitializeBegin(interpolator);
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291 | }
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292 | statesInitialized = true;
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293 | }
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294 |
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295 | // search for next events that may occur during the step
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296 | final int orderingSign = interpolator.isForward() ? +1 : -1;
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297 | SortedSet<FieldEventState<T>> occurringEvents = new TreeSet<FieldEventState<T>>(new Comparator<FieldEventState<T>>() {
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298 |
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299 | /** {@inheritDoc} */
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300 | public int compare(FieldEventState<T> es0, FieldEventState<T> es1) {
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301 | return orderingSign * Double.compare(es0.getEventTime().getReal(), es1.getEventTime().getReal());
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302 | }
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303 |
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304 | });
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305 |
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306 | for (final FieldEventState<T> state : eventsStates) {
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307 | if (state.evaluateStep(interpolator)) {
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308 | // the event occurs during the current step
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309 | occurringEvents.add(state);
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310 | }
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311 | }
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312 |
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313 | AbstractFieldStepInterpolator<T> restricted = interpolator;
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314 | while (!occurringEvents.isEmpty()) {
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315 |
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316 | // handle the chronologically first event
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317 | final Iterator<FieldEventState<T>> iterator = occurringEvents.iterator();
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318 | final FieldEventState<T> currentEvent = iterator.next();
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319 | iterator.remove();
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320 |
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321 | // get state at event time
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322 | final FieldODEStateAndDerivative<T> eventState = restricted.getInterpolatedState(currentEvent.getEventTime());
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323 |
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324 | // restrict the interpolator to the first part of the step, up to the event
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325 | restricted = restricted.restrictStep(previousState, eventState);
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326 |
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327 | // advance all event states to current time
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328 | for (final FieldEventState<T> state : eventsStates) {
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329 | state.stepAccepted(eventState);
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330 | isLastStep = isLastStep || state.stop();
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331 | }
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332 |
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333 | // handle the first part of the step, up to the event
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334 | for (final FieldStepHandler<T> handler : stepHandlers) {
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335 | handler.handleStep(restricted, isLastStep);
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336 | }
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337 |
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338 | if (isLastStep) {
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339 | // the event asked to stop integration
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340 | return eventState;
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341 | }
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342 |
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343 | FieldODEState<T> newState = null;
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344 | resetOccurred = false;
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345 | for (final FieldEventState<T> state : eventsStates) {
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346 | newState = state.reset(eventState);
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347 | if (newState != null) {
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348 | // some event handler has triggered changes that
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349 | // invalidate the derivatives, we need to recompute them
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350 | final T[] y = equations.getMapper().mapState(newState);
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351 | final T[] yDot = computeDerivatives(newState.getTime(), y);
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352 | resetOccurred = true;
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353 | return equations.getMapper().mapStateAndDerivative(newState.getTime(), y, yDot);
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354 | }
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355 | }
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356 |
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357 | // prepare handling of the remaining part of the step
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358 | previousState = eventState;
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359 | restricted = restricted.restrictStep(eventState, currentState);
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360 |
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361 | // check if the same event occurs again in the remaining part of the step
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362 | if (currentEvent.evaluateStep(restricted)) {
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363 | // the event occurs during the current step
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364 | occurringEvents.add(currentEvent);
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365 | }
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366 |
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367 | }
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368 |
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369 | // last part of the step, after the last event
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370 | for (final FieldEventState<T> state : eventsStates) {
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371 | state.stepAccepted(currentState);
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372 | isLastStep = isLastStep || state.stop();
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373 | }
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374 | isLastStep = isLastStep || currentState.getTime().subtract(tEnd).abs().getReal() <= FastMath.ulp(tEnd.getReal());
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375 |
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376 | // handle the remaining part of the step, after all events if any
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377 | for (FieldStepHandler<T> handler : stepHandlers) {
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378 | handler.handleStep(restricted, isLastStep);
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379 | }
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380 |
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381 | return currentState;
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382 |
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383 | }
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384 |
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385 | /** Check the integration span.
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386 | * @param eqn set of differential equations
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387 | * @param t target time for the integration
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388 | * @exception NumberIsTooSmallException if integration span is too small
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389 | * @exception DimensionMismatchException if adaptive step size integrators
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390 | * tolerance arrays dimensions are not compatible with equations settings
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391 | */
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392 | protected void sanityChecks(final FieldODEState<T> eqn, final T t)
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393 | throws NumberIsTooSmallException, DimensionMismatchException {
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394 |
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395 | final double threshold = 1000 * FastMath.ulp(FastMath.max(FastMath.abs(eqn.getTime().getReal()),
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396 | FastMath.abs(t.getReal())));
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397 | final double dt = eqn.getTime().subtract(t).abs().getReal();
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398 | if (dt <= threshold) {
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399 | throw new NumberIsTooSmallException(LocalizedFormats.TOO_SMALL_INTEGRATION_INTERVAL,
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400 | dt, threshold, false);
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401 | }
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402 |
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403 | }
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404 |
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405 | /** Check if a reset occurred while last step was accepted.
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406 | * @return true if a reset occurred while last step was accepted
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407 | */
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408 | protected boolean resetOccurred() {
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409 | return resetOccurred;
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410 | }
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411 |
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412 | /** Set the current step size.
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413 | * @param stepSize step size to set
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414 | */
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415 | protected void setStepSize(final T stepSize) {
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416 | this.stepSize = stepSize;
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417 | }
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418 |
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419 | /** Get the current step size.
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420 | * @return current step size
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421 | */
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422 | protected T getStepSize() {
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423 | return stepSize;
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424 | }
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425 | /** Set current step start.
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426 | * @param stepStart step start
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427 | */
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428 | protected void setStepStart(final FieldODEStateAndDerivative<T> stepStart) {
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429 | this.stepStart = stepStart;
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430 | }
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431 |
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432 | /** Getcurrent step start.
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433 | * @return current step start
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434 | */
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435 | protected FieldODEStateAndDerivative<T> getStepStart() {
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436 | return stepStart;
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437 | }
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438 |
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439 | /** Set the last state flag.
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440 | * @param isLastStep if true, this step is the last one
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441 | */
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442 | protected void setIsLastStep(final boolean isLastStep) {
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443 | this.isLastStep = isLastStep;
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444 | }
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445 |
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446 | /** Check if this step is the last one.
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447 | * @return true if this step is the last one
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448 | */
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449 | protected boolean isLastStep() {
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450 | return isLastStep;
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451 | }
|
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452 |
|
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453 | }
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