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# SpringRK4.R
# Simulation of a spring considering no friction
library(rODE)
setClass("SpringRK4", slots = c(
# we should improve this by letting the user entered these values
K = "numeric",
mu = "numeric",
mass = "numeric",
state = "numeric",
odeSolver = "RK4"
),
prototype = prototype(
K = 1,
state = c(0, 0, 0)
),
contains = c("ODE")
)
setMethod("initialize", "SpringRK4", function(.Object) {
# we should improve this by letting the user entered these values
.Object@K <- 1.0
.Object@mu <- 1.5
.Object@mass <- 20
.Object@odeSolver <- RK4(.Object)
return(.Object)
})
setMethod("setStepSize", signature("SpringRK4"), 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", "SpringRK4", function(object) {
object@odeSolver <- step(object@odeSolver)
object@rate <- object@odeSolver@ode@rate
object@state <- object@odeSolver@ode@state
object
})
setMethod("setState", "SpringRK4", function(object, theta, thetaDot) {
object@state[1] <- theta # angle
object@state[2] <- thetaDot # derivative of the angle
# state[3] is time
object@odeSolver@ode@state <- object@state # set state on solver
object
})
setMethod("getState", "SpringRK4", function(object) {
object@state
})
setMethod("getRate", "SpringRK4", function(object, state, ...) {
# enter the derivatives here
object@rate[1] <- state[2] # rate of change of angle
object@rate[2] <- -object@mu / object@mass * state[2] - object@K * state[1]
object@rate[3] <- 1 # rate of change of time, dt/dt
object@rate
})
# constructor
SpringRK4 <- function() new("SpringRK4")
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