AbstractOdeBasedContractionModel.hpp

/*

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*/

#ifndef ABSTRACTODEBASEDCONTRACTIONMODEL_
#define ABSTRACTODEBASEDCONTRACTIONMODEL_

#include "AbstractOdeSystem.hpp"
#include "AbstractContractionModel.hpp"
#include "AbstractIvpOdeSolver.hpp"
#include "EulerIvpOdeSolver.hpp"

class AbstractOdeBasedContractionModel : public AbstractOdeSystem, public AbstractContractionModel
{
protected:

    std::vector<double> mTemporaryStateVariables;

    double mTime;

public:
    AbstractOdeBasedContractionModel(unsigned numStateVariables)
        : AbstractOdeSystem(numStateVariables),
          AbstractContractionModel(),
          mTime(0.0)
    {
        // note mTemporaryStateVariables not resized here - only resized if needed
    }


    virtual void RunDoNotUpdate(double startTime, double endTime, double timeStep)
    {
        // save the state variables
        if(mTemporaryStateVariables.size()>0)
        {
            mTemporaryStateVariables.resize(mStateVariables.size());
        }
        mTemporaryStateVariables = mStateVariables;

        // solve (RunAndUpdate just calls SolveAndUpdateStateVariable() using an euler solver)
        RunAndUpdate(startTime, endTime, timeStep);

        // put the solution in mTemporaryStateVariables and return the state variables to its
        // original state
        for(unsigned i=0; i<mStateVariables.size(); i++)
        {
            double soln = mStateVariables[i];
            mStateVariables[i] = mTemporaryStateVariables[i];
            mTemporaryStateVariables[i] = soln;
        }

        // note that the end time was saved in RunAndUpdate(): mTime = endTime;
    }

    void UpdateStateVariables()
    {
        // save the state variables
        for(unsigned i=0; i<mStateVariables.size(); i++)
        {
            mStateVariables[i] = mTemporaryStateVariables[i];
        }
    }

    void RunAndUpdate(double startTime, double endTime, double timeStep)
    {
        EulerIvpOdeSolver solver;
        solver.SolveAndUpdateStateVariable(this, startTime, endTime, timeStep);

        mTime = endTime;
    }
};


#endif /*ABSTRACTODEBASEDSTRETCHINDEPENDENTCONTRACTIONMODEL_*/