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source: orxonox.OLD/orxonox/trunk/src/lib/newmat/solution.h @ 4574

Last change on this file since 4574 was 4565, checked in by patrick, 19 years ago

orxonox/trunk: added the newmat library to the project. needs some translation in directory, temp under util/newmat. is needed by the collision detection engine to perform lin alg operations such as eigenvector decomposition. perhaps we will make our own library to do that later.

File size: 3.1 KB
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1//$$ solution.h                      // solve routines
2
3#include "boolean.h"
4#include "myexcept.h"
5
6#ifdef use_namespace
7namespace RBD_COMMON {
8#endif
9
10
11// Solve the equation f(x)=y for x where f is a monotone continuous
12// function of x
13// Essentially Brent s method
14
15// You need to derive a class from R1_R1 and override "operator()"
16// with the function you want to solve.
17// Use an object from this class in OneDimSolve
18
19class R1_R1
20{
21   // the prototype for a Real function of a Real variable
22   // you need to derive your function from this one and put in your
23   // function for operator() at least. You probably also want to set up a
24   // constructor to put in additional parameter values (e.g. that will not
25   // vary during a solve)
26
27protected:
28   Real x;                             // Current x value
29   bool xSet;                          // true if a value assigned to x
30
31public:
32   Real minX, maxX;                    // range of value x
33   bool minXinf, maxXinf;              // true if these are infinite
34   R1_R1() : xSet(false), minXinf(true), maxXinf(true) {}
35   virtual Real operator()() = 0;      // function value at current x
36                                       // set current x
37   virtual void Set(Real X);           // set x, check OK
38   Real operator()(Real X) { Set(X); return operator()(); }
39                                       // set x, return value
40   virtual bool IsValid(Real X);
41   operator Real();                    // implicit conversion
42};
43
44class SolutionException : public Exception
45{
46public:
47   static unsigned long Select;
48   SolutionException(const char* a_what = 0);
49};
50
51class OneDimSolve
52{
53   R1_R1& function;                     // reference to the function
54   Real accX;                           // accuracy in X direction
55   Real accY;                           // accuracy in Y direction
56   int lim;                             // maximum number of iterations
57
58public:
59   OneDimSolve(R1_R1& f, Real AccY = 0.0001, Real AccX = 0.0)
60      : function(f), accX(AccX), accY(AccY) {}
61                       // f is an R1_R1 function
62   Real Solve(Real Y, Real X, Real Dev, int Lim=100);
63                       // Solve for x in Y=f(x)
64                       // X is the initial trial value of x
65                       // X+Dev is the second trial value
66                       // program returns a value of x such that
67                       // |Y-f(x)| <= accY or |f.inv(Y)-x| <= accX
68
69private:
70   Real x[3], y[3];                         // Trial values of X and Y
71   int L,C,U,Last;                          // Locations of trial values
72   int vpol, hpol;                          // polarities
73   Real YY;                                 // target value
74   int i;
75   void LookAt(int);                        // get new value of function
76   bool Finish;                             // true if LookAt finds conv.
77   bool Captured;                           // true when target surrounded
78   void VFlip();
79   void HFlip();
80   void Flip();
81   void State(int I, int J, int K);
82   void Linear(int, int, int);
83   void Quadratic(int, int, int);
84};
85
86
87#ifdef use_namespace
88}
89#endif
90
91// body file: solution.cpp
92
93
94
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