001/* 002 * Licensed to the Apache Software Foundation (ASF) under one or more 003 * contributor license agreements. See the NOTICE file distributed with 004 * this work for additional information regarding copyright ownership. 005 * The ASF licenses this file to You under the Apache License, Version 2.0 006 * (the "License"); you may not use this file except in compliance with 007 * the License. You may obtain a copy of the License at 008 * 009 * http://www.apache.org/licenses/LICENSE-2.0 010 * 011 * Unless required by applicable law or agreed to in writing, software 012 * distributed under the License is distributed on an "AS IS" BASIS, 013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 014 * See the License for the specific language governing permissions and 015 * limitations under the License. 016 */ 017 018package org.apache.commons.math3.ode.events; 019 020import org.apache.commons.math3.RealFieldElement; 021import org.apache.commons.math3.ode.FieldODEState; 022import org.apache.commons.math3.ode.FieldODEStateAndDerivative; 023 024/** This interface represents a handler for discrete events triggered 025 * during ODE integration. 026 * 027 * <p>Some events can be triggered at discrete times as an ODE problem 028 * is solved. This occurs for example when the integration process 029 * should be stopped as some state is reached (G-stop facility) when the 030 * precise date is unknown a priori, or when the derivatives have 031 * discontinuities, or simply when the user wants to monitor some 032 * states boundaries crossings. 033 * </p> 034 * 035 * <p>These events are defined as occurring when a <code>g</code> 036 * switching function sign changes.</p> 037 * 038 * <p>Since events are only problem-dependent and are triggered by the 039 * independent <i>time</i> variable and the state vector, they can 040 * occur at virtually any time, unknown in advance. The integrators will 041 * take care to avoid sign changes inside the steps, they will reduce 042 * the step size when such an event is detected in order to put this 043 * event exactly at the end of the current step. This guarantees that 044 * step interpolation (which always has a one step scope) is relevant 045 * even in presence of discontinuities. This is independent from the 046 * stepsize control provided by integrators that monitor the local 047 * error (this event handling feature is available for all integrators, 048 * including fixed step ones).</p> 049 * 050 * @param <T> the type of the field elements 051 * @since 3.6 052 */ 053public interface FieldEventHandler<T extends RealFieldElement<T>> { 054 055 /** Initialize event handler at the start of an ODE integration. 056 * <p> 057 * This method is called once at the start of the integration. It 058 * may be used by the event handler to initialize some internal data 059 * if needed. 060 * </p> 061 * @param initialState initial time, state vector and derivative 062 * @param finalTime target time for the integration 063 */ 064 void init(FieldODEStateAndDerivative<T> initialState, T finalTime); 065 066 /** Compute the value of the switching function. 067 068 * <p>The discrete events are generated when the sign of this 069 * switching function changes. The integrator will take care to change 070 * the stepsize in such a way these events occur exactly at step boundaries. 071 * The switching function must be continuous in its roots neighborhood 072 * (but not necessarily smooth), as the integrator will need to find its 073 * roots to locate precisely the events.</p> 074 * <p>Also note that the integrator expect that once an event has occurred, 075 * the sign of the switching function at the start of the next step (i.e. 076 * just after the event) is the opposite of the sign just before the event. 077 * This consistency between the steps <string>must</strong> be preserved, 078 * otherwise {@link org.apache.commons.math3.exception.NoBracketingException 079 * exceptions} related to root not being bracketed will occur.</p> 080 * <p>This need for consistency is sometimes tricky to achieve. A typical 081 * example is using an event to model a ball bouncing on the floor. The first 082 * idea to represent this would be to have {@code g(t) = h(t)} where h is the 083 * height above the floor at time {@code t}. When {@code g(t)} reaches 0, the 084 * ball is on the floor, so it should bounce and the typical way to do this is 085 * to reverse its vertical velocity. However, this would mean that before the 086 * event {@code g(t)} was decreasing from positive values to 0, and after the 087 * event {@code g(t)} would be increasing from 0 to positive values again. 088 * Consistency is broken here! The solution here is to have {@code g(t) = sign 089 * * h(t)}, where sign is a variable with initial value set to {@code +1}. Each 090 * time {@link #eventOccurred(FieldODEStateAndDerivative, boolean) eventOccurred} 091 * method is called, {@code sign} is reset to {@code -sign}. This allows the 092 * {@code g(t)} function to remain continuous (and even smooth) even across events, 093 * despite {@code h(t)} is not. Basically, the event is used to <em>fold</em> 094 * {@code h(t)} at bounce points, and {@code sign} is used to <em>unfold</em> it 095 * back, so the solvers sees a {@code g(t)} function which behaves smoothly even 096 * across events.</p> 097 098 * @param state current value of the independent <i>time</i> variable, state vector 099 * and derivative 100 * @return value of the g switching function 101 */ 102 T g(FieldODEStateAndDerivative<T> state); 103 104 /** Handle an event and choose what to do next. 105 106 * <p>This method is called when the integrator has accepted a step 107 * ending exactly on a sign change of the function, just <em>before</em> 108 * the step handler itself is called (see below for scheduling). It 109 * allows the user to update his internal data to acknowledge the fact 110 * the event has been handled (for example setting a flag in the {@link 111 * org.apache.commons.math3.ode.FirstOrderDifferentialEquations 112 * differential equations} to switch the derivatives computation in 113 * case of discontinuity), or to direct the integrator to either stop 114 * or continue integration, possibly with a reset state or derivatives.</p> 115 116 * <ul> 117 * <li>if {@link Action#STOP} is returned, the step handler will be called 118 * with the <code>isLast</code> flag of the {@link 119 * org.apache.commons.math3.ode.sampling.StepHandler#handleStep handleStep} 120 * method set to true and the integration will be stopped,</li> 121 * <li>if {@link Action#RESET_STATE} is returned, the {@link #resetState 122 * resetState} method will be called once the step handler has 123 * finished its task, and the integrator will also recompute the 124 * derivatives,</li> 125 * <li>if {@link Action#RESET_DERIVATIVES} is returned, the integrator 126 * will recompute the derivatives, 127 * <li>if {@link Action#CONTINUE} is returned, no specific action will 128 * be taken (apart from having called this method) and integration 129 * will continue.</li> 130 * </ul> 131 132 * <p>The scheduling between this method and the {@link 133 * org.apache.commons.math3.ode.sampling.FieldStepHandler FieldStepHandler} method {@link 134 * org.apache.commons.math3.ode.sampling.FieldStepHandler#handleStep( 135 * org.apache.commons.math3.ode.sampling.FieldStepInterpolator, boolean) 136 * handleStep(interpolator, isLast)} is to call this method first and 137 * <code>handleStep</code> afterwards. This scheduling allows the integrator to 138 * pass <code>true</code> as the <code>isLast</code> parameter to the step 139 * handler to make it aware the step will be the last one if this method 140 * returns {@link Action#STOP}. As the interpolator may be used to navigate back 141 * throughout the last step, user code called by this method and user 142 * code called by step handlers may experience apparently out of order values 143 * of the independent time variable. As an example, if the same user object 144 * implements both this {@link FieldEventHandler FieldEventHandler} interface and the 145 * {@link org.apache.commons.math3.ode.sampling.FieldStepHandler FieldStepHandler} 146 * interface, a <em>forward</em> integration may call its 147 * {code eventOccurred} method with t = 10 first and call its 148 * {code handleStep} method with t = 9 afterwards. Such out of order 149 * calls are limited to the size of the integration step for {@link 150 * org.apache.commons.math3.ode.sampling.FieldStepHandler variable step handlers}.</p> 151 152 * @param state current value of the independent <i>time</i> variable, state vector 153 * and derivative 154 * @param increasing if true, the value of the switching function increases 155 * when times increases around event (note that increase is measured with respect 156 * to physical time, not with respect to integration which may go backward in time) 157 * @return indication of what the integrator should do next, this 158 * value must be one of {@link Action#STOP}, {@link Action#RESET_STATE}, 159 * {@link Action#RESET_DERIVATIVES} or {@link Action#CONTINUE} 160 */ 161 Action eventOccurred(FieldODEStateAndDerivative<T> state, boolean increasing); 162 163 /** Reset the state prior to continue the integration. 164 165 * <p>This method is called after the step handler has returned and 166 * before the next step is started, but only when {@link 167 * #eventOccurred(FieldODEStateAndDerivative, boolean) eventOccurred} has itself 168 * returned the {@link Action#RESET_STATE} indicator. It allows the user to reset 169 * the state vector for the next step, without perturbing the step handler of the 170 * finishing step. If the {@link #eventOccurred(FieldODEStateAndDerivative, boolean) 171 * eventOccurred} never returns the {@link Action#RESET_STATE} indicator, this 172 * function will never be called, and it is safe to leave its body empty.</p> 173 * @param state current value of the independent <i>time</i> variable, state vector 174 * and derivative 175 * @return reset state (note that it does not include the derivatives, they will 176 * be added automatically by the integrator afterwards) 177 */ 178 FieldODEState<T> resetState(FieldODEStateAndDerivative<T> state); 179 180}