chore: update

lib/hsim/lift.ml

@@ -0,0 +1,60 @@
+
+type ('s, 'a) state =
+  { mutable state : 's;
+    mutable input : 'a option;
+    mutable time : Ztypes.time;
+    mutable jump : bool; }
+
+let lift_hsim_full (n : unit Ztypes.hsimu)
+  : (unit, unit, unit, Ztypes.cvec, Ztypes.dvec, Ztypes.zoutvec, Ztypes.zinvec option) Full.hnode * int
+= let Hsim { alloc; step; reset; derivative; crossings; maxsize; _ } = n in
+  let state = { state = alloc (); input = None; time = 0.0; jump = false } in
+  let csize, zsize = maxsize state.state in
+  let no_zin, no_zout = Zls.zmake zsize, Zls.cmake zsize in
+  let no_der, pos = Zls.cmake csize, Zls.cmake csize in
+  let no_time = -1.0 in reset state.state;
+  let fder { state; time; _ } offset () y =
+    derivative state y no_der no_zin no_zout (time +. offset);
+    no_der in
+  let fzer { state; time; _ } offset () y =
+    crossings state y no_zin no_zout (time +. offset); no_zout in
+  let fout _ _ () _ = () in
+  let step { state; time; _ } offset () =
+    { state; time=time +. offset; input=Some (); jump = false },
+    step state pos no_der no_zin (time +. offset) in
+  let reset ({ state; _ } as st) () = reset state; st in
+  let jump s = s.jump in
+  let cset ({ state; _ } as st) _ =
+    derivative state pos no_der no_zin no_zout no_time; st in
+  let zset ({ state; _ } as st) = function None -> st | Some zinvec ->
+    derivative state pos no_der zinvec no_zout no_time; { st with jump = true } in
+  let cget { state; _ } =
+    derivative state pos no_der no_zin no_zout no_time; pos in
+  HNode { state; fder; fzer; fout; step; reset; jump; cget; cset; zset }, zsize
+
+let lift_hsim (n : unit Ztypes.hsimu)
+  : (unit, unit, unit, Ztypes.cvec, Ztypes.dvec, Ztypes.zoutvec, Ztypes.zinvec option) Fill.hnode * int
+= let Hsim { alloc; step; reset; derivative; crossings; maxsize; _ } = n in
+  let state = { state = alloc (); input = None; time = 0.0; jump = false } in
+  let csize, zsize = maxsize state.state in
+  let no_zin, no_zout = Zls.zmake zsize, Zls.cmake zsize in
+  let no_der, pos = Zls.cmake csize, Zls.cmake csize in
+  let no_time = -1.0 in reset state.state;
+  let fder { state; time; _ } offset () y =
+    derivative state y no_der no_zin no_zout (time +. offset);
+    no_der in
+  let fzer { state; time; _ } offset () y =
+    crossings state y no_zin no_zout (time +. offset); no_zout in
+  let fout _ _ () _ = () in
+  let step { state; time; _ } offset () =
+    { state; time=time +. offset; input=Some (); jump = false },
+    step state pos no_der no_zin (time +. offset) in
+  let reset ({ state; _ } as st) () = reset state; st in
+  let jump s = s.jump in
+  let cset ({ state; _ } as st) _ =
+    derivative state pos no_der no_zin no_zout no_time; st in
+  let zset ({ state; _ } as st) = function None -> st | Some zinvec ->
+    derivative state pos no_der zinvec no_zout no_time; { st with jump = true } in
+  let cget { state; _ } =
+    derivative state pos no_der no_zin no_zout no_time; pos in
+  HNode { state; fder; fzer; fout; step; reset; jump; cget; cset; zset }, zsize