mbsim 4.0.0 MBSim Kernel

dop853_integrator.h
1 /* Copyright (C) 2004-2006 Martin Förg
2
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16
17 *
18 * Contact:
19 * martin.o.foerg@googlemail.com
20 *
21 */
22
23 #ifndef _DOP853_INTEGRATOR_H_
24 #define _DOP853_INTEGRATOR_H_
25
26 #include "root_finding_integrator.h"
27
28 namespace MBSim {
29
32 class DOP853Integrator : public RootFindingIntegrator {
33
34 private:
35
36 static void fzdot(int* n, double* t, double* z, double* zd, double* rpar, int* ipar);
37 static void plot(int* nr, double* told, double* t,double* z, int* n, double* con, int* icomp, int* nd, double* rpar, int* ipar, int* irtrn);
38
39 double tPlot{0};
40 double dtOut{0};
41 double s0;
42 double time{0};
43
45 fmatvec::Vec aTol;
47 fmatvec::Vec rTol;
49 double dt0{1e-3};
51 int maxSteps{2000000000};
53 double dtMax{0};
54
55 public:
56
57 ~DOP853Integrator() override = default;
58
59 const fmatvec::Vec& getAbsoluteTolerance() const { return aTol; }
60 const fmatvec::Vec& getRelativeTolerance() const { return rTol; }
61 double getInitialStepSize() const { return dt0; }
62 int getStepLimit() const { return maxSteps; }
63 double getMaximumStepSize() const { return dtMax; }
64
65 void setAbsoluteTolerance(const fmatvec::Vec &aTol_) { aTol <<= aTol_; }
66 void setAbsoluteTolerance(double aTol_) { aTol.resize(1,fmatvec::INIT,aTol_); }
67 void setRelativeTolerance(const fmatvec::Vec &rTol_) { rTol <<= rTol_; }
68 void setRelativeTolerance(double rTol_) { rTol.resize(1,fmatvec::INIT,rTol_); }
69 void setInitialStepSize(double dt0_) { dt0 = dt0_; }
70 void setStepLimit(int maxSteps_) { maxSteps = maxSteps_; }
71 void setMaximumStepSize(double dtMax_) { dtMax = dtMax_; }
72
73 using Integrator::integrate;
74 void integrate() override;
75
76 void initializeUsingXML(xercesc::DOMElement *element) override;
77 };
78
79 }
80
81 #endif
MBSim::DOP853Integrator::integrate
void integrate() override
start the integration of the system set by setSystem. Each class implemeting this function should cal...
Definition: dop853_integrator.cc:162
MBSim::DOP853Integrator::dt0
double dt0
Definition: dop853_integrator.h:49
MBSim::DOP853Integrator
ODE-Integrator DOP853.
Definition: dop853_integrator.h:32
MBSim::DOP853Integrator::dtMax
double dtMax
Definition: dop853_integrator.h:53
MBSim::RootFindingIntegrator
Integrator with root-finding.
Definition: root_finding_integrator.h:32
MBSim::Integrator::integrate
virtual void integrate()=0
start the integration of the system set by setSystem. Each class implemeting this function should cal...
MBSim::DOP853Integrator::aTol
fmatvec::Vec aTol
Definition: dop853_integrator.h:45
MBSim::DOP853Integrator::rTol
fmatvec::Vec rTol
Definition: dop853_integrator.h:47
MBSim::DOP853Integrator::maxSteps
int maxSteps
Definition: dop853_integrator.h:51
MBSim::DOP853Integrator::initializeUsingXML
void initializeUsingXML(xercesc::DOMElement *element) override
initialize integrator
Definition: dop853_integrator.cc:244
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30