private IList<State> Solve(State state)
{
var states = new List<State>();
var dt = Inputs.DeltaT;
var ic = IntegrationConstants();
var effectiveK = Inputs.K + ic[0] * Inputs.M + ic[1] * Inputs.C;
states.Add(state);
for (double t = Inputs.T0; t < Inputs.Tk; t += Inputs.DeltaT*Inputs.Teta)
{
var lastState = states.Last();
var effectiveR = Inputs.R.ToVector(t) +
Inputs.Teta * (Inputs.R.ToVector(t + Inputs.DeltaT) - Inputs.R.ToVector(t)) +
Inputs.M * (ic[0] * lastState.MovementU + ic[2] * lastState.SpeedU +
2 * lastState.AccelerationU) +
Inputs.C * (ic[1] * lastState.MovementU
+ 2 * lastState.SpeedU + ic[3] * lastState.AccelerationU);
var nextMovementU = effectiveR * effectiveK.Inverse();
var nextAcceleration = ic[4] * (nextMovementU - lastState.MovementU) + ic[5] * lastState.SpeedU + ic[6] * lastState.AccelerationU;
var nextSpeed = lastState.SpeedU + ic[7] * (nextAcceleration + lastState.AccelerationU);
var nextMove = lastState.MovementU + dt * lastState.SpeedU + ic[8] * (nextAcceleration + 2 * lastState.AccelerationU);
states.Add(new State(t, effectiveR, nextMove, nextSpeed, nextAcceleration,
nextMovementU));
}
return states;
}
private State AdjustInitialState(State state, double a2, double a0, double a1, Vector<double> pastU, Matrix<double> effectiveM)
{
var effectiveR = Inputs.R.ToVector(Inputs.T0) - (Inputs.K - a2 * Inputs.M) * Inputs.MovementU - (a0 * Inputs.M - a1 * Inputs.C) * pastU;
var nextStateMovementU = effectiveR * effectiveM.Inverse();
return new State(Inputs.T0, effectiveR, state.MovementU, state.SpeedU, state.AccelerationU, nextStateMovementU);
}
private IList<State> Solve(State initState)
{
var ic = PrepareIntegrationConstants();
var states = new List<State>();
var pastU = initState.MovementU - Inputs.DeltaT * initState.SpeedU + ic[3] * initState.AccelerationU;
var effectiveM = ic[0] * Inputs.M + ic[1] * Inputs.C;
states.Add(AdjustInitialState(initState, ic[2], ic[0], ic[1], pastU, effectiveM));
for (double t = Inputs.T0 + Inputs.DeltaT; t < Inputs.Tk; t += Inputs.DeltaT)
{
var previosState = states.Last();
var effectiveR = Inputs.R.ToVector(t) - (Inputs.K - ic[2] * Inputs.M) * previosState.NextStateMovementU -
(ic[0] * Inputs.M - ic[1] * Inputs.C) * previosState.MovementU;
var nextStateMovementU = effectiveR * effectiveM.Inverse();
var speedU = ic[1] * (nextStateMovementU - previosState.MovementU);
var accelerationU = ic[0] * (previosState.MovementU - 2 * previosState.NextStateMovementU + nextStateMovementU);
states.Add(new State(t, effectiveR, previosState.NextStateMovementU, speedU, accelerationU, nextStateMovementU));
}
return states;
}
private void RenderWithInterval(int from, int to, State state)
{
for (int i = from, j = 0; i <= to; i++, ++j)
{
if (chart1.Series.Count < j + 1)
{
chart1.Series.Add(new Series("U" + i) { ChartType = SeriesChartType.Spline, BorderWidth = 3 });
}
chart1.Series[j].Points.AddXY(state.Time, state.MovementU[i]);
}
}
private void RenderMany(IList<int> indexes, State state)
{
for (int i = 0; i < indexes.Count; ++i)
{
if (chart1.Series.Count < i + 1)
{
chart1.Series.Add(new Series("U" + indexes[i]) { ChartType = SeriesChartType.Spline, BorderWidth = 3 });
}
chart1.Series[i].Points.AddXY(state.Time, state.MovementU[indexes[i] - 1]);
}
}