source: src/main/java/agents/anac/y2019/harddealer/math3/ode/events/FieldEventHandler.java

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 * 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
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 *      http://www.apache.org/licenses/LICENSE-2.0
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package agents.anac.y2019.harddealer.math3.ode.events;

import agents.anac.y2019.harddealer.math3.RealFieldElement;
import agents.anac.y2019.harddealer.math3.ode.FieldODEState;
import agents.anac.y2019.harddealer.math3.ode.FieldODEStateAndDerivative;

/** This interface represents a handler for discrete events triggered
 * during ODE integration.
 *
 * <p>Some events can be triggered at discrete times as an ODE problem
 * is solved. This occurs for example when the integration process
 * should be stopped as some state is reached (G-stop facility) when the
 * precise date is unknown a priori, or when the derivatives have
 * discontinuities, or simply when the user wants to monitor some
 * states boundaries crossings.
 * </p>
 *
 * <p>These events are defined as occurring when a <code>g</code>
 * switching function sign changes.</p>
 *
 * <p>Since events are only problem-dependent and are triggered by the
 * independent <i>time</i> variable and the state vector, they can
 * occur at virtually any time, unknown in advance. The integrators will
 * take care to avoid sign changes inside the steps, they will reduce
 * the step size when such an event is detected in order to put this
 * event exactly at the end of the current step. This guarantees that
 * step interpolation (which always has a one step scope) is relevant
 * even in presence of discontinuities. This is independent from the
 * stepsize control provided by integrators that monitor the local
 * error (this event handling feature is available for all integrators,
 * including fixed step ones).</p>
 *
 * @param <T> the type of the field elements
 * @since 3.6
 */
public interface FieldEventHandler<T extends RealFieldElement<T>>  {

    /** Initialize event handler at the start of an ODE integration.
     * <p>
     * This method is called once at the start of the integration. It
     * may be used by the event handler to initialize some internal data
     * if needed.
     * </p>
     * @param initialState initial time, state vector and derivative
     * @param finalTime target time for the integration
     */
    void init(FieldODEStateAndDerivative<T> initialState, T finalTime);

    /** Compute the value of the switching function.

     * <p>The discrete events are generated when the sign of this
     * switching function changes. The integrator will take care to change
     * the stepsize in such a way these events occur exactly at step boundaries.
     * The switching function must be continuous in its roots neighborhood
     * (but not necessarily smooth), as the integrator will need to find its
     * roots to locate precisely the events.</p>
     * <p>Also note that the integrator expect that once an event has occurred,
     * the sign of the switching function at the start of the next step (i.e.
     * just after the event) is the opposite of the sign just before the event.
     * This consistency between the steps <string>must</strong> be preserved,
     * otherwise {@link agents.anac.y2019.harddealer.math3.exception.NoBracketingException
     * exceptions} related to root not being bracketed will occur.</p>
     * <p>This need for consistency is sometimes tricky to achieve. A typical
     * example is using an event to model a ball bouncing on the floor. The first
     * idea to represent this would be to have {@code g(t) = h(t)} where h is the
     * height above the floor at time {@code t}. When {@code g(t)} reaches 0, the
     * ball is on the floor, so it should bounce and the typical way to do this is
     * to reverse its vertical velocity. However, this would mean that before the
     * event {@code g(t)} was decreasing from positive values to 0, and after the
     * event {@code g(t)} would be increasing from 0 to positive values again.
     * Consistency is broken here! The solution here is to have {@code g(t) = sign
     * * h(t)}, where sign is a variable with initial value set to {@code +1}. Each
     * time {@link #eventOccurred(FieldODEStateAndDerivative, boolean) eventOccurred}
     * method is called, {@code sign} is reset to {@code -sign}. This allows the
     * {@code g(t)} function to remain continuous (and even smooth) even across events,
     * despite {@code h(t)} is not. Basically, the event is used to <em>fold</em>
     * {@code h(t)} at bounce points, and {@code sign} is used to <em>unfold</em> it
     * back, so the solvers sees a {@code g(t)} function which behaves smoothly even
     * across events.</p>

     * @param state current value of the independent <i>time</i> variable, state vector
     * and derivative
     * @return value of the g switching function
     */
    T g(FieldODEStateAndDerivative<T> state);

    /** Handle an event and choose what to do next.

     * <p>This method is called when the integrator has accepted a step
     * ending exactly on a sign change of the function, just <em>before</em>
     * the step handler itself is called (see below for scheduling). It
     * allows the user to update his internal data to acknowledge the fact
     * the event has been handled (for example setting a flag in the {@link
     * agents.anac.y2019.harddealer.math3.ode.FirstOrderDifferentialEquations
     * differential equations} to switch the derivatives computation in
     * case of discontinuity), or to direct the integrator to either stop
     * or continue integration, possibly with a reset state or derivatives.</p>

     * <ul>
     *   <li>if {@link Action#STOP} is returned, the step handler will be called
     *   with the <code>isLast</code> flag of the {@link
     *   agents.anac.y2019.harddealer.math3.ode.sampling.StepHandler#handleStep handleStep}
     *   method set to true and the integration will be stopped,</li>
     *   <li>if {@link Action#RESET_STATE} is returned, the {@link #resetState
     *   resetState} method will be called once the step handler has
     *   finished its task, and the integrator will also recompute the
     *   derivatives,</li>
     *   <li>if {@link Action#RESET_DERIVATIVES} is returned, the integrator
     *   will recompute the derivatives,
     *   <li>if {@link Action#CONTINUE} is returned, no specific action will
     *   be taken (apart from having called this method) and integration
     *   will continue.</li>
     * </ul>

     * <p>The scheduling between this method and the {@link
     * agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepHandler FieldStepHandler} method {@link
     * agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepHandler#handleStep(
     * agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepInterpolator, boolean)
     * handleStep(interpolator, isLast)} is to call this method first and
     * <code>handleStep</code> afterwards. This scheduling allows the integrator to
     * pass <code>true</code> as the <code>isLast</code> parameter to the step
     * handler to make it aware the step will be the last one if this method
     * returns {@link Action#STOP}. As the interpolator may be used to navigate back
     * throughout the last step, user code called by this method and user
     * code called by step handlers may experience apparently out of order values
     * of the independent time variable. As an example, if the same user object
     * implements both this {@link FieldEventHandler FieldEventHandler} interface and the
     * {@link agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepHandler FieldStepHandler}
     * interface, a <em>forward</em> integration may call its
     * {code eventOccurred} method with t = 10 first and call its
     * {code handleStep} method with t = 9 afterwards. Such out of order
     * calls are limited to the size of the integration step for {@link
     * agents.anac.y2019.harddealer.math3.ode.sampling.FieldStepHandler variable step handlers}.</p>

     * @param state current value of the independent <i>time</i> variable, state vector
     * and derivative
     * @param increasing if true, the value of the switching function increases
     * when times increases around event (note that increase is measured with respect
     * to physical time, not with respect to integration which may go backward in time)
     * @return indication of what the integrator should do next, this
     * value must be one of {@link Action#STOP}, {@link Action#RESET_STATE},
     * {@link Action#RESET_DERIVATIVES} or {@link Action#CONTINUE}
     */
    Action eventOccurred(FieldODEStateAndDerivative<T> state, boolean increasing);

    /** Reset the state prior to continue the integration.

     * <p>This method is called after the step handler has returned and
     * before the next step is started, but only when {@link
     * #eventOccurred(FieldODEStateAndDerivative, boolean) eventOccurred} has itself
     * returned the {@link Action#RESET_STATE} indicator. It allows the user to reset
     * the state vector for the next step, without perturbing the step handler of the
     * finishing step. If the {@link #eventOccurred(FieldODEStateAndDerivative, boolean)
     * eventOccurred} never returns the {@link Action#RESET_STATE} indicator, this
     * function will never be called, and it is safe to leave its body empty.</p>
     * @param state current value of the independent <i>time</i> variable, state vector
     * and derivative
     * @return reset state (note that it does not include the derivatives, they will
     * be added automatically by the integrator afterwards)
     */
    FieldODEState<T> resetState(FieldODEStateAndDerivative<T> state);

}