Formatting changes

src/callback.rs

@@ -27,7 +27,7 @@ mod tests {
     fn test_basic_callbacks() {
         type Params = ();
         let _value_too_high = Callback {
-            event: &|_: f64, y: SVector<f64,3>, _p: &Params| { 10.0 - y[0] },
+            event: &|_: f64, y: SVector<f64, 3>, _p: &Params| 10.0 - y[0],
             effect: &stop,
         };
     }

src/controller.rs

@@ -19,7 +19,10 @@ impl<const D:usize> Controller<D> for PIController {
     /// returns what the next step size should be
     fn determine_step(&mut self, h: f64, err: f64) -> (bool, f64) {
         let factor_11 = err.powf(self.alpha);
-        let factor = self.factor_c2.max(self.factor_c1.min(factor_11 * self.factor_old.powf(-self.beta) / self.safety_factor));
+        let factor = self.factor_c2.max(
+            self.factor_c1
+                .min(factor_11 * self.factor_old.powf(-self.beta) / self.safety_factor),
+        );
         let mut h_new = h / factor;
         if err <= 1.0 {
             // Accept the stepsize
@@ -39,7 +42,15 @@ impl<const D:usize> Controller<D> for PIController {
 }
 
 impl PIController {
-    pub fn new(alpha:f64, beta:f64, max_factor: f64, min_factor: f64, h_max: f64, safety_factor: f64, initial_h: f64) -> Self {
+    pub fn new(
+        alpha: f64,
+        beta: f64,
+        max_factor: f64,
+        min_factor: f64,
+        h_max: f64,
+        safety_factor: f64,
+        initial_h: f64,
+    ) -> Self {
         Self {
             alpha: alpha,
             beta: beta,

src/integrator/dormand_prince.rs

@@ -17,12 +17,12 @@ pub struct DormandPrince45<const D: usize> {
     r_tol: f64,
 }
 
-impl<const D: usize> DormandPrince45<D> where DormandPrince45<D>: Integrator<D> {
+impl<const D: usize> DormandPrince45<D>
+where
+    DormandPrince45<D>: Integrator<D>,
+{
     pub fn new(a_tol: f64, r_tol: f64) -> Self {
-        Self {
+        Self { a_tol, r_tol }
-            a_tol,
-            r_tol,
-        }
     }
 }
 
@@ -66,15 +66,7 @@ impl<'a, const D: usize> DormandPrinceIntegrator<'a> for DormandPrince45<D> {
         187.0 / 2_100.0,
         1.0 / 40.0,
     ];
-    const C: &'a [f64] = &[
+    const C: &'a [f64] = &[0.0, 1.0 / 5.0, 3.0 / 10.0, 4.0 / 5.0, 8.0 / 9.0, 1.0, 1.0];
-        0.0,
-        1.0 / 5.0,
-        3.0 / 10.0,
-        4.0 / 5.0,
-        8.0 / 9.0,
-        1.0,
-        1.0,
-    ];
     const D: &'a [f64] = &[
         -12715105075.0 / 11282082432.0,
         0.0,
@@ -95,8 +87,12 @@ where
     const ADAPTIVE: bool = true;
     const DENSE: bool = true;
 
-    fn step<P>(&self, ode: &ODE<D,P>, h: f64) -> (SVector<f64,D>, Option<f64>, Option<Vec<SVector<f64, D>>>) {
+    fn step<P>(
-        let mut k: Vec<SVector::<f64,D>> = vec![SVector::<f64,D>::zeros(); Self::STAGES];
+        &self,
+        ode: &ODE<D, P>,
+        h: f64,
+    ) -> (SVector<f64, D>, Option<f64>, Option<Vec<SVector<f64, D>>>) {
+        let mut k: Vec<SVector<f64, D>> = vec![SVector::<f64, D>::zeros(); Self::STAGES];
         let mut next_y = ode.y.clone();
         let mut err = SVector::<f64, D>::zeros();
         let mut rcont5 = SVector::<f64, D>::zeros();
@@ -124,10 +120,16 @@ where
         let rcont3 = h * k[0] - rcont2;
         let rcont4 = rcont2 - k[Self::STAGES - 1] * h - rcont3;
         let tol = SVector::<f64, D>::repeat(self.a_tol) + ode.y * self.r_tol;
-        let rcont = vec![ rcont1, rcont2, rcont3, rcont4, rcont5, ];
+        let rcont = vec![rcont1, rcont2, rcont3, rcont4, rcont5];
         (next_y, Some((err.component_div(&tol)).norm()), Some(rcont))
     }
-    fn interpolate(&self, t_start: f64, t_end: f64, dense: &Vec<SVector<f64,D>>, t: f64) -> SVector<f64,D> {
+    fn interpolate(
+        &self,
+        t_start: f64,
+        t_end: f64,
+        dense: &Vec<SVector<f64, D>>,
+        t: f64,
+    ) -> SVector<f64, D> {
         let s = (t - t_start) / (t_end - t_start);
         let s1 = 1.0 - s;
         dense[0] + (dense[1] + (dense[2] + (dense[3] + dense[4] * s1) * s) * s1) * s

src/integrator/mod.rs

@@ -13,23 +13,33 @@ pub trait Integrator<const D: usize> {
     const DENSE: bool;
     /// Returns a new y value, then possibly an error value, and possibly a dense output
     /// coefficient set
-    fn step<P>(&self, ode: &ODE<D,P>, h: f64) -> (SVector<f64,D>, Option<f64>, Option<Vec<SVector<f64, D>>>);
+    fn step<P>(
-    fn interpolate(&self, t_start: f64, t_end: f64, dense: &Vec<SVector<f64,D>>, t: f64) -> SVector<f64,D>;
+        &self,
+        ode: &ODE<D, P>,
+        h: f64,
+    ) -> (SVector<f64, D>, Option<f64>, Option<Vec<SVector<f64, D>>>);
+    fn interpolate(
+        &self,
+        t_start: f64,
+        t_end: f64,
+        dense: &Vec<SVector<f64, D>>,
+        t: f64,
+    ) -> SVector<f64, D>;
 }
 
-
 #[cfg(test)]
 mod tests {
-    use super::*;
     use super::dormand_prince::*;
-    use nalgebra::Vector3;
+    use super::*;
     use approx::assert_relative_eq;
-
+    use nalgebra::Vector3;
 
     #[test]
     fn test_dopri() {
         type Params = ();
-        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> { y }
+        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> {
+            y
+        }
 
         let y0 = Vector3::new(1.0, 1.0, 1.0);
         let mut ode = ODE::new(&derivative, 0.0, 4.0, y0, ());

src/lib.rs

@@ -1,24 +1,24 @@
 #![allow(dead_code)]
 
-pub mod ode;
-pub mod integrator;
-pub mod controller;
 pub mod callback;
+pub mod controller;
+pub mod integrator;
+pub mod ode;
 pub mod problem;
 
 pub mod prelude {
-    pub use super::ode::ODE;
+    pub use super::callback::{stop, Callback};
-    pub use super::integrator::dormand_prince::DormandPrince45;
     pub use super::controller::PIController;
-    pub use super::callback::{Callback, stop};
+    pub use super::integrator::dormand_prince::DormandPrince45;
+    pub use super::ode::ODE;
     pub use super::problem::{Problem, Solution};
 }
 
 #[cfg(test)]
 mod tests {
-    use nalgebra::{Vector2, Vector6};
-    use approx::assert_relative_eq;
     use crate::prelude::*;
+    use approx::assert_relative_eq;
+    use nalgebra::{Vector2, Vector6};
     use std::f64::consts::PI;
 
     #[test]
@@ -42,7 +42,7 @@ mod tests {
         let controller = PIController::default();
 
         let value_too_high = Callback {
-            event: &|t: f64, _y: Vector2<f64>, _p: &Params| { 5.0 - t },
+            event: &|t: f64, _y: Vector2<f64>, _p: &Params| 5.0 - t,
             effect: &stop,
         };
 
@@ -86,12 +86,40 @@ mod tests {
 
         let solution = problem.solve();
 
-        assert_relative_eq!(solution.times[solution.states.len()-1], 10.0 * period, max_relative=1e-12);
+        assert_relative_eq!(
-        assert_relative_eq!(solution.states[solution.states.len()-1][0], y0[0], max_relative=1e-9);
+            solution.times[solution.states.len() - 1],
-        assert_relative_eq!(solution.states[solution.states.len()-1][1], y0[1], max_relative=1e-9);
+            10.0 * period,
-        assert_relative_eq!(solution.states[solution.states.len()-1][2], y0[2], max_relative=1e-9);
+            max_relative = 1e-12
-        assert_relative_eq!(solution.states[solution.states.len()-1][3], y0[3], max_relative=1e-9);
+        );
-        assert_relative_eq!(solution.states[solution.states.len()-1][4], y0[4], max_relative=1e-9);
+        assert_relative_eq!(
-        assert_relative_eq!(solution.states[solution.states.len()-1][5], y0[5], max_relative=1e-9);
+            solution.states[solution.states.len() - 1][0],
+            y0[0],
+            max_relative = 1e-9
+        );
+        assert_relative_eq!(
+            solution.states[solution.states.len() - 1][1],
+            y0[1],
+            max_relative = 1e-9
+        );
+        assert_relative_eq!(
+            solution.states[solution.states.len() - 1][2],
+            y0[2],
+            max_relative = 1e-9
+        );
+        assert_relative_eq!(
+            solution.states[solution.states.len() - 1][3],
+            y0[3],
+            max_relative = 1e-9
+        );
+        assert_relative_eq!(
+            solution.states[solution.states.len() - 1][4],
+            y0[4],
+            max_relative = 1e-9
+        );
+        assert_relative_eq!(
+            solution.states[solution.states.len() - 1][5],
+            y0[5],
+            max_relative = 1e-9
+        );
     }
 }

src/ode.rs

@@ -23,19 +23,18 @@ impl<'a, const D: usize, P> ODE<'a,D, P> {
         params: P,
     ) -> Self {
         Self {
-            f: f,
+            f,
             y: y0,
             t: t0,
-            params: params,
+            params,
-            t0: t0,
+            t0,
-            t_end: t_end,
+            t_end,
             h: 0.001,
             finished: false,
         }
     }
 }
 
-
 #[cfg(test)]
 mod tests {
     use super::*;
@@ -44,7 +43,9 @@ mod tests {
     #[test]
     fn test_ode_creation() {
         type Params = ();
-        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> { -y }
+        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> {
+            -y
+        }
 
         let y0 = Vector3::new(1.0, 0.0, 0.0);
         let ode = ODE::new(&derivative, 0.0, 10.0, y0, ());
@@ -62,7 +63,11 @@ mod tests {
         let params = (34.0, true);
 
         fn derivative(t: f64, y: Vector3<f64>, p: &Params) -> Vector3<f64> {
-          if p.1 { -y } else { y * t }
+            if p.1 {
+                -y
+            } else {
+                y * t
+            }
         }
 
         let y0 = Vector3::new(1.0, 0.0, 0.0);

src/problem.rs

@@ -1,10 +1,10 @@
 use nalgebra::SVector;
 use roots::find_root_regula_falsi;
 
-use super::ode::ODE;
+use super::callback::Callback;
 use super::controller::{Controller, PIController};
 use super::integrator::Integrator;
-use super::callback::Callback;
+use super::ode::ODE;
 
 #[derive(Clone)]
 pub struct Problem<'a, const D: usize, S, P>
@@ -30,9 +30,9 @@ where
         }
     }
     pub fn solve(&mut self) -> Solution<S, D> {
-        let mut times: Vec::<f64> = vec![self.ode.t];
+        let mut times: Vec<f64> = vec![self.ode.t];
-        let mut states: Vec::<SVector<f64,D>> = vec![self.ode.y];
+        let mut states: Vec<SVector<f64, D>> = vec![self.ode.y];
-        let mut dense_coefficients: Vec::<Vec<SVector<f64,D>>> = Vec::new();
+        let mut dense_coefficients: Vec<Vec<SVector<f64, D>>> = Vec::new();
         let mut step: f64 = self.controller.old_h;
         let (mut new_y, mut err_option, _) = self.integrator.step(&self.ode, 0.0);
         while self.ode.t < self.ode.t_end {
@@ -42,12 +42,19 @@ where
                 let mut accepted: bool = false;
                 while !accepted {
                     // Try a step and if that isn't acceptable, then change the step until it is
-                    (accepted, step) = <PIController as Controller<D>>::determine_step(&mut self.controller, step, err);
+                    (accepted, step) = <PIController as Controller<D>>::determine_step(
+                        &mut self.controller,
+                        step,
+                        err,
+                    );
                     (new_y, err_option, dense_option) = self.integrator.step(&self.ode, step);
                     err = err_option.unwrap();
                 }
                 self.controller.old_h = step;
-                self.controller.h_max = self.controller.h_max.min(self.ode.t_end - self.ode.t - step);
+                self.controller.h_max = self
+                    .controller
+                    .h_max
+                    .min(self.ode.t_end - self.ode.t - step);
             } else {
                 // If fixed time step just step forward one step
                 (new_y, _, dense_option) = self.integrator.step(&self.ode, step);
@@ -55,7 +62,10 @@ where
             if self.callbacks.len() > 0 {
                 // Check for events occurring
                 for callback in &self.callbacks {
-                    if (callback.event)(self.ode.t, self.ode.y, &self.ode.params) * (callback.event)(self.ode.t + step, new_y, &self.ode.params) < 0.0 {
+                    if (callback.event)(self.ode.t, self.ode.y, &self.ode.params)
+                        * (callback.event)(self.ode.t + step, new_y, &self.ode.params)
+                        < 0.0
+                    {
                         // If the event crossed zero, then find the root
                         let f = |test_t| {
                             let test_y = self.integrator.step(&self.ode, test_t).0;
@@ -77,8 +87,8 @@ where
         }
         Solution {
             integrator: self.integrator,
-            times: times,
+            times,
-            states: states,
+            states,
             dense: dense_coefficients,
         }
     }
@@ -94,14 +104,20 @@ where
     }
 }
 
-pub struct Solution<S, const D: usize> where S: Integrator<D> {
+pub struct Solution<S, const D: usize>
+where
+    S: Integrator<D>,
+{
     pub integrator: S,
     pub times: Vec<f64>,
     pub states: Vec<SVector<f64, D>>,
-    pub dense: Vec::<Vec<SVector<f64,D>>>,
+    pub dense: Vec<Vec<SVector<f64, D>>>,
 }
 
-impl<S, const D: usize> Solution<S,D> where S: Integrator<D> {
+impl<S, const D: usize> Solution<S, D>
+where
+    S: Integrator<D>,
+{
     pub fn interpolate(&self, t: f64) -> SVector<f64, D> {
         // First check that the t is within bounds
         let last = self.times.last().unwrap();
@@ -109,8 +125,12 @@ impl<S, const D: usize> Solution<S,D> where S: Integrator<D> {
 
         // TODO: Improve these errors
         let mut times = self.times.clone();
-        if *first > *last { times.reverse(); }
+        if *first > *last {
-        if t < *first || t > *last { panic!(); }
+            times.reverse();
+        }
+        if t < *first || t > *last {
+            panic!();
+        }
 
         // Then find the two t values closest to the desired t
         let mut end_index: usize = 0;
@@ -124,23 +144,26 @@ impl<S, const D: usize> Solution<S,D> where S: Integrator<D> {
         // Then send that to the integrator
         let t_start = times[end_index - 1];
         let t_end = times[end_index];
-        self.integrator.interpolate(t_start, t_end, &self.dense[end_index - 1], t)
+        self.integrator
+            .interpolate(t_start, t_end, &self.dense[end_index - 1], t)
     }
 }
 
 #[cfg(test)]
 mod tests {
     use super::*;
-    use nalgebra::Vector3;
-    use approx::assert_relative_eq;
-    use crate::integrator::dormand_prince::DormandPrince45;
-    use crate::controller::PIController;
     use crate::callback::stop;
+    use crate::controller::PIController;
+    use crate::integrator::dormand_prince::DormandPrince45;
+    use approx::assert_relative_eq;
+    use nalgebra::Vector3;
 
     #[test]
     fn test_problem() {
         type Params = ();
-        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> { y }
+        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> {
+            y
+        }
         let y0 = Vector3::new(1.0, 1.0, 1.0);
 
         let ode = ODE::new(&derivative, 0.0, 1.0, y0, ());
@@ -150,7 +173,11 @@ mod tests {
         let mut problem = Problem::new(ode, dp45, controller);
 
         let solution = problem.solve();
-        solution.times.iter().zip(solution.states.iter()).for_each(|(time, state)| {
+        solution
+            .times
+            .iter()
+            .zip(solution.states.iter())
+            .for_each(|(time, state)| {
                 assert_relative_eq!(state[0], time.exp(), max_relative = 1e-2);
             })
     }
@@ -158,7 +185,9 @@ mod tests {
     #[test]
     fn test_with_callback() {
         type Params = ();
-        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> { y }
+        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> {
+            y
+        }
         let y0 = Vector3::new(1.0, 1.0, 1.0);
 
         let ode = ODE::new(&derivative, 0.0, 10.0, y0, ());
@@ -166,7 +195,7 @@ mod tests {
         let controller = PIController::default();
 
         let value_too_high = Callback {
-            event: &|_: f64, y: SVector<f64,3>, _: &Params| { 10.0 - y[0] },
+            event: &|_: f64, y: SVector<f64, 3>, _: &Params| 10.0 - y[0],
             effect: &stop,
         };
 
@@ -179,7 +208,9 @@ mod tests {
     #[test]
     fn test_with_interpolation() {
         type Params = ();
-        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> { y }
+        fn derivative(_t: f64, y: Vector3<f64>, _p: &Params) -> Vector3<f64> {
+            y
+        }
         let y0 = Vector3::new(1.0, 1.0, 1.0);
 
         let ode = ODE::new(&derivative, 0.0, 10.0, y0, ());
@@ -189,6 +220,10 @@ mod tests {
         let mut problem = Problem::new(ode, dp45, controller);
         let solution = problem.solve();
 
-        assert_relative_eq!(solution.interpolate(8.8)[0], 8.8_f64.exp(), max_relative=1e-6);
+        assert_relative_eq!(
+            solution.interpolate(8.8)[0],
+            8.8_f64.exp(),
+            max_relative = 1e-6
+        );
     }
 }