Discret.hh

[詳解]

 
//
// Copyright (C) 2011-2020 Yokokura, Yuki
// This program is free software;
// you can redistribute it and/or modify it under the terms of the BSD License.
// For details, see the License.txt file.
 
#ifndef DISCRET
#define DISCRET
 
#include <string>
#include <tuple>
#include <cassert>
#include "Matrix.hh"
 
namespace ARCS {    // ARCS名前空間
class Discret {
    public:
        template <size_t NB, size_t MB>
        static constexpr std::pair<Matrix<MB,MB>, Matrix<NB,MB>>
        GetDiscSystem(const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc, const double Ts){
            constexpr size_t Npade = 13;                    // パデ近似の次数
            constexpr unsigned long Nint = 10000;           // 定積分の分割数
            return GetDiscSystem(Ac, Bc, Ts, Npade, Nint);  // 離散化してタプルで返す
        }
        
        template <size_t NB, size_t MB>
        static constexpr std::pair<Matrix<MB,MB>, Matrix<NB,MB>>
        GetDiscSystem(
            const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc,
            const double Ts, const size_t Npade, const unsigned long Nint
        ){
            Matrix<MB,MB> Ad;
            Matrix<NB,MB> Bd;
            GetDiscSystem(Ac, Bc, Ad, Bd, Ts, Npade, Nint); // 離散化
            return {Ad, Bd};    // ペアで返す
        }
        
        template <size_t NB, size_t MB>
        static constexpr void GetDiscSystem(
            const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc, Matrix<MB,MB>& Ad, Matrix<NB,MB>& Bd, const double Ts
        ){
            constexpr size_t Npade = 13;                    // パデ近似の次数
            constexpr unsigned long Nint = 10000;           // 定積分の分割数
            GetDiscSystem(Ac, Bc, Ad, Bd, Ts, Npade, Nint); // 離散化
        }
        
        template <size_t NB, size_t MB>
        static constexpr void GetDiscSystem(
            const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc, Matrix<MB,MB>& Ad, Matrix<NB,MB>& Bd,
            const double Ts, const size_t Npade, const size_t Nint
        ){
            Ad = expm(Ac*Ts, Npade);                    // A行列の離散化
            Bd = integral_expm(Ac, Ts, Nint, Npade)*Bc; // B行列の離散化
        }
        
        template <size_t MB>
        static constexpr Matrix<MB,MB> GetDiscMatA(const Matrix<MB,MB>& Ac, const double Ts){
            constexpr size_t Npade = 3; // パデ近似の次数
            return expm(Ac*Ts, Npade);  // 離散系A行列を返す
        }
        
        template <size_t NB, size_t MB>
        static constexpr Matrix<NB,MB> GetDiscMatB(const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc, const double Ts){
            constexpr size_t Npade = 3;                     // パデ近似の次数
            constexpr unsigned long Nint = 100;             // 定積分の分割数
            return integral_expm(Ac, Ts, Nint, Npade)*Bc;   // 離散系B行列を返す
        }
        
        template <size_t MB>
        static constexpr Matrix<MB,MB> GetDiscMatA(const Matrix<MB,MB>& Ac, const double Ts, const size_t Npade){
            return expm(Ac*Ts, Npade);  // 離散系A行列を返す
        }
        
        template <size_t NB, size_t MB>
        static constexpr Matrix<NB,MB> GetDiscMatB(
            const Matrix<MB,MB>& Ac, const Matrix<NB,MB>& Bc, const double Ts, const size_t Npade, const size_t Nint
        ){
            return integral_expm(Ac, Ts, Nint, Npade)*Bc;   // 離散系B行列を返す
        }
        
    private:
        Discret() = delete;                 
        Discret(Discret&& r) = delete;      
        ~Discret() = delete;                
        Discret(const Discret&) = delete;   
        const Discret& operator=(const Discret&) = delete;  
};
}
 
#endif