void ControlLinearAdditionalTermsED::addSmoothTerms(DynamicalSystemsGraph& DSG0, const DynamicalSystemsGraph::VDescriptor& dsgVD, const double t, SiconosVector& xdot)
{
// check whether we have a system with a control input
if (DSG0.u.hasKey(dsgVD))
{
if (DSG0.B.hasKey(dsgVD))
{
prod(DSG0.B.getRef(dsgVD), DSG0.u.getRef(dsgVD), xdot, false); // xdot += B*u
}
else if (DSG0.pluginU.hasKey(dsgVD))
{
DynamicalSystem& ds = *DSG0.bundle(dsgVD);
SiconosVector& u = DSG0.u.getRef(dsgVD);
SiconosVector& tmpXdot = DSG0.tmpXdot.getRef(dsgVD);
((AdditionalTermsEDfctU)DSG0.pluginU.getRef(dsgVD).fPtr)(t, xdot.size(), ds.getx().getArray(), u.size(), u.getArray(), tmpXdot.getArray(), ds.getz().size(), ds.getz().getArray());
xdot += tmpXdot; // xdot += g(x, u)
}
else
{
RuntimeException::selfThrow("ControlLinearAdditionalTermsED :: input u but no B nor pluginU");
}
}
// check whether the DynamicalSystem is an Observer
if (DSG0.e.hasKey(dsgVD))
{
assert(DSG0.L.hasKey(dsgVD));
prod(*DSG0.L[dsgVD], *DSG0.e[dsgVD], xdot, false); // xdot += -L*e
}
}
/** store all the states of the graph in a matrix
* \param indx row index in the matrix
* \param startColumn the starting column
* \param DSG0 the graph of DynamicalSystem
* \param IG0 the graph of Interaction
* \param data the matrix where to save the data
* \return the last written column
*/
static inline unsigned storeAllStates(unsigned indx, unsigned startColumn, DynamicalSystemsGraph& DSG0, InteractionsGraph& IG0, SimpleMatrix& data)
{
DynamicalSystemsGraph::VIterator dsvi, dsvdend;
unsigned column = startColumn;
for (std11::tie(dsvi, dsvdend) = DSG0.vertices(); dsvi != dsvdend; ++dsvi)
{
unsigned i = column;
SiconosVector& x = *DSG0.bundle(*dsvi)->x();
for (unsigned j = 0; j < x.size(); ++i, ++j)
{
data(indx, i) = x(j);
}
column += x.size();
if (DSG0.u.hasKey(*dsvi))
{
SiconosVector& u = *DSG0.u[*dsvi];
for (unsigned j = 0; j < u.size(); ++i, ++j)
{
data(indx, i) = u(j);
}
column += u.size();
}
if (DSG0.e.hasKey(*dsvi))
{
SiconosVector& e = *DSG0.e[*dsvi];
for (unsigned j = 0; j < e.size(); ++i, ++j)
{
data(indx, i) = e(j);
}
column += e.size();
}
}
InteractionsGraph::VIterator ivi, ivdend;
for (std11::tie(ivi, ivdend) = IG0.vertices(); ivi != ivdend; ++ivi)
{
unsigned i = column;
SiconosVector& y = *IG0.bundle(*ivi)->y(0);
for (unsigned j = 0; j < y.size(); ++i, ++j)
{
data(indx, i) = y(j);
}
column += y.size();
SiconosVector& lambda = *IG0.bundle(*ivi)->lambda(0);
for (unsigned j = 0; j < lambda.size(); ++i, ++j)
{
data(indx, i) = lambda(j);
}
column += lambda.size();
}
return column;
}
void ControlLinearAdditionalTermsED::addJacobianRhsContribution(DynamicalSystemsGraph& DSG0, const DynamicalSystemsGraph::VDescriptor& dsgVD, const double t, SiconosMatrix& jacRhs)
{
// check whether we have a system with a control input
if (DSG0.pluginJacgx.hasKey(dsgVD))
{
DynamicalSystem& ds = *DSG0.bundle(dsgVD);
SiconosVector& u = DSG0.u.getRef(dsgVD);
SimpleMatrix& tmpJacgx = DSG0.jacgx.getRef(dsgVD);
((AdditionalTermsEDfctU)DSG0.pluginJacgx.getRef(dsgVD).fPtr)(t, ds.getx().size(), ds.getx().getArray(), u.size(), u.getArray(), tmpJacgx.getArray(), ds.getz().size(), ds.getz().getArray());
jacRhs += tmpJacgx; // JacRhs += \nabla_x g(x, u)
}
else
{
RuntimeException::selfThrow("ControlLinearAdditionalTermsED :: input u but no B nor pluginU");
}
}
void ControlLinearAdditionalTermsED::init(DynamicalSystemsGraph& DSG0, const Model& model)
{
DynamicalSystemsGraph::VIterator dsvi, dsvdend;
for (std11::tie(dsvi, dsvdend) = DSG0.vertices(); dsvi != dsvdend; ++dsvi)
{
DynamicalSystem& ds = *DSG0.bundle(*dsvi);
if (DSG0.pluginU.hasKey(*dsvi))
{
DSG0.tmpXdot[*dsvi].reset(new SiconosVector(ds.getx().size()));
}
if (DSG0.pluginJacgx.hasKey(*dsvi))
{
DSG0.jacgx[*dsvi].reset(new SimpleMatrix(ds.getx().size(), ds.getx().size()));
}
}
}
static inline std::pair<unsigned, std::string> getNumberOfStates(DynamicalSystemsGraph& DSG0, InteractionsGraph& IG0)
{
std::string legend;
DynamicalSystemsGraph::VIterator dsvi, dsvdend;
unsigned nb = 0;
unsigned counter = 0;
for (std11::tie(dsvi, dsvdend) = DSG0.vertices(); dsvi != dsvdend; ++dsvi)
{
SiconosVector& x = *DSG0.bundle(*dsvi)->x();
nb += x.size();
std::string nameDS;
if (DSG0.name.hasKey(*dsvi))
{
nameDS = DSG0.name[*dsvi];
}
else
{
nameDS = "unknownDS" + TO_STR(counter);
++counter;
}
for (unsigned i = 0; i < x.size(); ++i)
{
legend.append(" " + nameDS + "_" + TO_STR(i));
}
if (DSG0.u.hasKey(*dsvi))
{
unsigned sizeU = DSG0.u[*dsvi]->size();
nb += sizeU;
for (unsigned i = 0; i < sizeU; ++i)
{
legend.append(" " + nameDS + "_u_" + TO_STR(i));
}
}
if (DSG0.e.hasKey(*dsvi))
{
unsigned sizeE = DSG0.e[*dsvi]->size();
for (unsigned i = 0; i < sizeE; ++i)
{
legend.append(" " + nameDS + "_e_" + TO_STR(i));
}
nb += DSG0.e[*dsvi]->size();
}
}
InteractionsGraph::VIterator ivi, ivdend;
counter = 0;
for (std11::tie(ivi, ivdend) = IG0.vertices(); ivi != ivdend; ++ivi)
{
std::string nameInter;
if (IG0.name.hasKey(*ivi))
{
nameInter = IG0.name[*ivi];
}
else
{
nameInter = "unknownInteraction" + TO_STR(counter);
++counter;
}
SiconosVector& y = *IG0.bundle(*ivi)->y(0);
nb += y.size();
for (unsigned i = 0; i < y.size(); ++i)
{
legend.append(" " + nameInter + "_y_" + TO_STR(i));
}
SiconosVector& lambda = *IG0.bundle(*ivi)->lambda(0);
nb += lambda.size();
for (unsigned i = 0; i < lambda.size(); ++i)
{
legend.append(" " + nameInter + "_lambda_" + TO_STR(i));
}
}
return std::make_pair(nb, legend);
}