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# Pendulum.R
#
# Original Pendulum class uses Euler-Richardson solver
setClass("Pendulum", slots = c(
omega0Squared = "numeric",
state = "numeric",
odeSolver = "EulerRichardson"
),
prototype = prototype(
omega0Squared = 3,
state = c(0, 0, 0)
),
contains = c("ODE")
)
setMethod("initialize", "Pendulum", function(.Object) {
.Object@odeSolver <- EulerRichardson(.Object)
return(.Object)
})
setMethod("setStepSize", signature("Pendulum"), function(object, dt, ...) {
# use explicit parameter declaration
# setStepSize generic may use two different step parameters: stepSize and dt
object@odeSolver <- setStepSize(object@odeSolver, dt)
object
})
setMethod("step", "Pendulum", function(object) {
object@odeSolver <- step(object@odeSolver)
object@rate <- object@odeSolver@ode@rate
object@state <- object@odeSolver@ode@state
object
})
setMethod("setState", signature("Pendulum"), function(object, theta, thetaDot, ...) {
object@state[1] <- theta # angle
object@state[2] <- thetaDot # derivative of angle
# state[3] is time
object@odeSolver@ode@state <- object@state
object
})
setMethod("getState", "Pendulum", function(object) {
object@state
})
setMethod("getRate", "Pendulum", function(object, state, ...) {
object@rate[1] <- state[2] # rate of change of angle
object@rate[2] <- -object@omega0Squared * sin(state[1]) # rate of change of dtheta
object@rate[3] <- 1 # rate of change of time, dt/dt
object@rate
})
# constructor
Pendulum <- function() new("Pendulum")
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