mbsim 4.0.0 MBSim Kernel

radau5_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 _RADAU5_INTEGRATOR_H_
24 #define _RADAU5_INTEGRATOR_H_
25
26 #include "root_finding_integrator.h"
27
28 namespace MBSim {
29
32 class RADAU5Integrator : public RootFindingIntegrator {
33
34 public:
35 enum Formalism {
36 ODE=0,
37 DAE1,
38 DAE2,
39 DAE3,
40 GGL,
41 unknown
42 };
43
44 private:
45 typedef void (*Fzdot)(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
46 typedef void (*Mass)(int* n, double* m, int* lmas, double* rpar, int* ipar);
47 static Fzdot fzdot[5];
48 static Mass mass[2];
49 static void fzdotODE(int* n, double* t, double* z, double* zd, double* rpar, int* ipar);
50 static void fzdotDAE1(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
51 static void fzdotDAE2(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
52 static void fzdotDAE3(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
53 static void fzdotGGL(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
54 static void massFull(int* n, double* m, int* lmas, double* rpar, int* ipar);
55 static void massReduced(int* n, double* m, int* lmas, double* rpar, int* ipar);
56 static void plot(int* nr, double* told, double* t, double* y, double* cont, int* lrc, int* n, double* rpar, int* ipar, int* irtrn);
57
58 void calcSize();
59 void reinit();
60
61 double tPlot{0};
62 double dtOut{0};
63 double s0;
64 double time{0};
65
67 fmatvec::Vec aTol;
69 fmatvec::Vec rTol;
71 double dt0{0};
73 int maxSteps{0};
75 double dtMax{0};
77 Formalism formalism{ODE};
79 bool reduced{false};
80
81 int neq, mlJac, muJac;
82 fmatvec::VecInt iWork;
83 fmatvec::Vec work;
84
85 public:
86 ~RADAU5Integrator() override = default;
87
88 void setAbsoluteTolerance(const fmatvec::Vec &aTol_) { aTol <<= aTol_; }
89 void setAbsoluteTolerance(double aTol_) { aTol.resize(1,fmatvec::INIT,aTol_); }
90 void setRelativeTolerance(const fmatvec::Vec &rTol_) { rTol <<= rTol_; }
91 void setRelativeTolerance(double rTol_) { rTol.resize(1,fmatvec::INIT,rTol_); }
92 void setInitialStepSize(double dt0_) { dt0 = dt0_; }
93 void setMaximumStepSize(double dtMax_) { dtMax = dtMax_; }
94 void setStepLimit(int maxSteps_) { maxSteps = maxSteps_; }
95 void setFormalism(Formalism formalism_) { formalism = formalism_; }
96 void setReducedForm(bool reduced_) { reduced = reduced_; }
97
98 using Integrator::integrate;
99 void integrate() override;
100
101 void initializeUsingXML(xercesc::DOMElement *element) override;
102 };
103
104 }
105
106 #endif
MBSim::RADAU5Integrator::aTol
fmatvec::Vec aTol
Definition: radau5_integrator.h:67
MBSim::RADAU5Integrator::integrate
void integrate() override
start the integration of the system set by setSystem. Each class implemeting this function should cal...
Definition: radau5_integrator.cc:252
MBSim::RADAU5Integrator::reduced
bool reduced
Definition: radau5_integrator.h:79
MBSim::RADAU5Integrator::formalism
Formalism formalism
Definition: radau5_integrator.h:77
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::RADAU5Integrator::dtMax
double dtMax
Definition: radau5_integrator.h:75
MBSim::RADAU5Integrator
DAE-Integrator RADAU5.
Definition: radau5_integrator.h:32
MBSim::RADAU5Integrator::dt0
double dt0
Definition: radau5_integrator.h:71
MBSim::RADAU5Integrator::initializeUsingXML
void initializeUsingXML(xercesc::DOMElement *element) override
initialize integrator
Definition: radau5_integrator.cc:413
MBSim::RADAU5Integrator::maxSteps
int maxSteps
Definition: radau5_integrator.h:73
MBSim::RADAU5Integrator::rTol
fmatvec::Vec rTol
Definition: radau5_integrator.h:69
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30