public static ControlConstraints BoxConstraints(PhasePoint ld, PhasePoint sizes, PhasePoint steps)
{
ControlConstraints constr = new ControlConstraints();
int[]
upperBounds = new int[ld.Dim],
cnt = new int[ld.Dim];
for (int i = 0; i < ld.Dim; i++)
{
upperBounds[i] = (int)(sizes[i] / steps[i]);
cnt[i] = 0;
}
int curind;
do
{
PhasePoint curpoint = new PhasePoint(ld, steps, cnt);
constr.Add(curpoint, null);
curind = 0;
cnt[curind]++;
while (curind < ld.Dim && cnt[curind] > upperBounds[curind])
{
cnt[curind] = 0;
curind++;
if (curind < ld.Dim)
{
cnt[curind]++;
}
}
} while (curind < ld.Dim);
return(constr);
}
public PhasePoint f(double t, PhasePoint x, PhasePoint u, PhasePoint v)
{
#if _DEBUG
if (u.Dim != v.Dim)
{
throw new Exception("Simple motion dynamics; f: controls of different dimensions!" `);
}
#endif
return(u + v);
}
public static double Minmax(IDynamics dynam, double t, PhasePoint x, ControlConstraints u,
ControlConstraints v, Grid grid)
{
double maxmin = -1e38;
PhasePoint neigh;
foreach (var b in v.Keys)
{
double min = 1e38;
foreach (var a in u.Keys)
{
PhasePoint speed = dynam.f(t, x, a, b);
double sum = 0;
for (int i = 0; i < x.Dim; i++)
{
if (speed[i] > 0)
{
if (grid.GetNeighbour(x, i, -1, out neigh))
{
sum += speed[i] * (grid[x][t] - grid[neigh][t]) / grid.Steps[i];
}
else
{
// Что делать??? Как аппроксимировать на краю сетки???
sum += 0;
}
}
else
{
if (grid.GetNeighbour(x, i, +1, out neigh))
{
sum += speed[i] * (grid[neigh][t] - grid[x][t]) / grid.Steps[i];
}
else
{
// Что делать??? Как аппроксимировать на краю сетки???
sum += 0;
}
}
}
if (min > sum)
{
min = sum;
}
}
if (maxmin < min)
{
maxmin = min;
}
}
return(maxmin);
}
public static ControlConstraints SegmentConstraints(PhasePoint beginning, PhasePoint end, PhasePoint steps)
{
ControlConstraints constr = new ControlConstraints();
PhasePoint currentpoint = beginning;
while (currentpoint.CompareTo(end) != 0)
{
constr.Add(currentpoint, null);
currentpoint += steps;
}
return(constr);
}
public double fi(int i, double t, PhasePoint x, PhasePoint u, PhasePoint v)
{
#if _DEBUG
if (u.Dim != v.Dim)
{
throw new Exception("Simple motion dynamics; fi: controls of different dimensions!" `);
}
if (i < 0 || i >= u.Dim)
{
throw new Exception("Simple motion dynamics; fi: index out of range!" `);
}
#endif
return(u[i] + v[i]);
}
// Сетка, накинутая на шар
public static Grid BallGrid(PhasePoint center, double radius, PhasePoint steps)
{
Grid grid = new Grid();
grid.Steps = steps;
int[]
lowerBounds = new int[center.Dim],
upperBounds = new int[center.Dim],
cnt = new int[center.Dim];
lowerBounds[0] = -(int)(radius / steps[0]);
upperBounds[0] = -lowerBounds[0];
cnt[0] = lowerBounds[0] - 1;
int curind = 0;
while (curind >= 0)
{
cnt[curind]++;
if (cnt[curind] > upperBounds[curind])
{
curind--;
}
else
{
curind++;
if (curind < center.Dim)
{
lowerBounds[curind] =
(int)Math.Ceiling(-Math.Sqrt(radius * radius -
cnt
.Take(curind)
.Zip(steps, (i, s) => i * s)
.Select(x => x * x).Sum()) / steps[curind]);
upperBounds[curind] = -lowerBounds[curind];
cnt[curind] = lowerBounds[curind] - 1;
}
else
{
PhasePoint curpoint = new PhasePoint(center, steps, cnt);
grid.Add(curpoint, null);
curind--;
}
}
}
return(grid);
}
public double chi(double t, PhasePoint x)
{
double norm = Math.Sqrt(x
.Select(a => a * a)
.Sum());
if (norm > r)
{
return((norm / r) - 1);
}
else
{
return(0);
}
}
public static Grid SegmentGrid(PhasePoint beginning, PhasePoint end, PhasePoint steps)
{
Grid grid = new Grid();
grid.Steps = steps;
PhasePoint currentpoint = beginning;
while (currentpoint.CompareTo(end) != 0)
{
grid.Add(currentpoint, null);
currentpoint += steps;
}
return(grid);
}
// Фабрики
// Сетка, накинутая на прямоугольный параллелепипед
public static Grid BoxGrid(PhasePoint ld, PhasePoint sizes, PhasePoint steps)
{
Grid grid = new Grid();
grid.Steps = steps;
int[]
upperBounds = new int[ld.Dim],
cnt = new int[ld.Dim];
for (int i = 0; i < ld.Dim; i++)
{
upperBounds[i] = (int)(sizes[i] / steps[i]);
cnt[i] = 0;
}
int curind;
do
{
PhasePoint curpoint = new PhasePoint(ld, steps, cnt);
grid.Add(curpoint, null);
curind = 0;
cnt[curind]++;
while (curind < ld.Dim && cnt[curind] > upperBounds[curind])
{
cnt[curind] = 0;
curind++;
if (curind < ld.Dim)
{
cnt[curind]++;
}
}
} while (curind < ld.Dim);
return(grid);
}
// Может быть, еще что-то...
public bool GetNeighbour(PhasePoint p1, int coordIdx, int dir, out PhasePoint neigh)
{
neigh = new PhasePoint(p1);
neigh.coords[coordIdx] += Steps[coordIdx] * dir;
return(ContainsKey(neigh));
}
static public void Main(string[] args)
{
string DLLPath = "./bin/Debug/netcoreapp2.1/";
string inPath = Environment.GetFolderPath(Environment.SpecialFolder.MyDocuments);
string outPath = Environment.GetFolderPath(Environment.SpecialFolder.MyDocuments);
double t1 = 0;
double T = 5;
double delta = 0.025;
int nT = (int)Math.Ceiling((T - t1) / delta);
double[] time = new double[nT + 1];
for (int i = 0; i <= nT; i++)
{
time[nT - i] = T - i * delta;
}
/* List<string> inArgs = new List<string>();
* using (StreamReader sr = new StreamReader(Path.Combine(inPath, "In.txt")))
* {
* string line;
* while ((line = sr.ReadLine()) != null)
* {
* inArgs.Add(line);
* }
* }
*
* double T = Convert.ToDouble(inArgs[0]);
* double t1 = Convert.ToDouble(inArgs[1]);
* double delta = Convert.ToDouble(inArgs[2]);
* int nT = (int)Math.Ceiling((T - t1) / delta);
* double[] time = new double[nT+1];
* for (int i = 0; i <= nT; i++)
* {
* time[nT - i] = T - i * delta;
* }
*
* PhasePoint
* center = new PhasePoint(new List<double> {Convert.ToDouble(inArgs[4]),
* Convert.ToDouble(inArgs[5])}),
* xSteps = new PhasePoint(new List<double> {Convert.ToDouble(inArgs[7]),
* Convert.ToDouble(inArgs[8])}),
* pSteps = xSteps,
* qSteps = new PhasePoint(new List<double> {Convert.ToDouble(inArgs[19]),
* Convert.ToDouble(inArgs[20])});
* double radiusX = Convert.ToDouble(inArgs[6]);
* double radiusP = Convert.ToDouble(inArgs[12]);
* double radiusQ = Convert.ToDouble(inArgs[18]);
* if (inArgs[3] == "Ball")
* {
* Grid grid = Grid.BallGrid(center, Convert.ToDouble(inArgs[0]), xSteps);
* }
* if (inArgs[9] == "Ball")
* {
* ControlConstraints P = ControlConstraints.BallConstraints(center, radiusP, pSteps);
* }
* if (inArgs[15] == "Ball")
* {
* ControlConstraints Q = ControlConstraints.BallConstraints(center, radiusQ, qSteps);
* }
*/
LibLinking <IDynamics> loader = new LibLinking <IDynamics>();
IDynamics dynam = loader.FindLib(DLLPath + "SimpleMotion.dll");
double finalR = 1.0;
double finalT = T;
// LibLinking<IChi> chi1loader = new LibLinking<IChi>();
// IChi chi1 = chi1loader.FindLib(DLLPath + "CylinderSet.dll", finalR, finalT);
// LibLinking<ITheta> theta1loader = new LibLinking<ITheta>();
// ITheta theta1 = theta1loader.FindLib(DLLPath + "CylinderSet.dll", finalR, finalT);
/* double t1 = 0;
* double T = 5;
* double delta = 0.1;
* int nT = (int)Math.Ceiling((T - t1) / delta);
* double[] time = new double[nT+1];
* for (int i = 0; i <= nT; i++)
* {
* time[nT - i] = T - i * delta;
* }
*/
LibLinking <IChi> chiloader = new LibLinking <IChi>();
IChi chi = chiloader.FindLib(DLLPath + "CylinderSet_NoConstraints.dll", finalR);
LibLinking <ITheta> thetaloader = new LibLinking <ITheta>();
ITheta theta = thetaloader.FindLib(DLLPath + "CylinderSet_NoConstraints.dll", finalR);
/* ControlConstraints cc =
* ControlConstraints.BallConstraints(new PhasePoint(2), 1,
* new PhasePoint(new List<double> {0.1, 0.1}));
* Grid g = Grid.BallGrid(new PhasePoint(2), 1,
* new PhasePoint(new List<double> {0.1, 0.1}));
*
* PhasePoint
* u = new PhasePoint(new List<double> {1, 0}),
* v = new PhasePoint(new List<double> {-2, 1}),
* speed = dynam.f(0, new PhasePoint(), u, v);
* Console.WriteLine(speed);
*/
PhasePoint
center = new PhasePoint(new List <double> {
0, 0
}),
xSteps = new PhasePoint(new List <double> {
0.1, 0.1
}),
pSteps = xSteps,
qSteps = new PhasePoint(new List <double> {
0.1, 0.1
});
double radiusX = 4.6;
double radiusP = 1;
double radiusQ = 0.5;
Grid grid = Grid.BallGrid(center, radiusX, xSteps);
ControlConstraints P = ControlConstraints.BallConstraints(center, radiusP, pSteps);
ControlConstraints Q = ControlConstraints.BallConstraints(center, radiusQ, qSteps);
foreach (PhasePoint x in grid.Keys.ToList())
{
grid[x] = new SortedDictionary <double, double> {
{ T, chi.chi(T, x) }
}
}
;
int length = time.Length;
/* Parallel.For(0, length , i =>
* {
* foreach (PhasePoint x in grid.Keys)
* {
* double velocity = Minmax(dynam, time[length - i], x, P, Q, grid);
* grid[x].Add(time[length - i - 1], Math.Max(Math.Min(chi.chi(time[length - i - 1], x),
* grid[x][time[length - i]] + (time[length - i] - time[length - i - 1]) * velocity),
* theta.theta(time[length - i - 1], x)));
* }
* });*/
for (int i = time.Length - 1; i > 0; i--)
{
foreach (PhasePoint x in grid.Keys)
{
double velocity = Minmax(dynam, time[i], x, P, Q, grid);
grid[x].Add(time[i - 1], Math.Max(Math.Min(chi.chi(time[i - 1], x),
grid[x][time[i]] + (time[i] - time[i - 1]) * velocity),
theta.theta(time[i - 1], x)));
}
}
using (StreamWriter outputFile = new StreamWriter(Path.Combine(outPath, "Result6.txt")))
{
// int i = 1;
foreach (PhasePoint x in grid.Keys)
{
foreach (double t in grid[x].Keys)
{
System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
//outputFile.WriteLine(i+") "+"Coordinates:" + " " + x + " " + "Time:" + " " + t + " " + "Result:" + " "+ Math.Round(grid[x][t], 8));
outputFile.WriteLine(x.First() + " " + x.Last() + " " + t + " " + Math.Round(grid[x][t], 8));
// i++;
}
}
}
Console.WriteLine(grid);
Console.ReadKey();
}
}
public double theta(double t, PhasePoint x)
{
return(0);
}
public double sigma(PhasePoint x)
{
return(Math.Sqrt(x
.Select(a => a * a)
.Sum()));
}
