mbsim 4.0.0 MBSim Kernel

theta_time_stepping_integrator.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
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 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _THETA_TIME_STEPPING_INTEGRATOR_H_
21 #define _THETA_TIME_STEPPING_INTEGRATOR_H_
22
23 #include "integrator.h"
24
25 namespace MBSim {
26
36 class ThetaTimeSteppingIntegrator : public Integrator {
37 public:
41 ~ThetaTimeSteppingIntegrator() override = default;
42
43 void preIntegrate() override;
44 void subIntegrate(double tStop) override;
45 void postIntegrate() override;
46
47 /* INHERITED INTERFACE OF INTEGRATOR */
48 using Integrator::integrate;
49 void integrate() override;
50 void initializeUsingXML(xercesc::DOMElement *element) override;
51 /***************************************************/
52
53 /* GETTER / SETTER */
54 void setStepSize(double dt_) { dt = dt_; }
55 void setTheta(double theta_ ) { theta = theta_; }
56 void setToleranceForPositionConstraints(double gMax_) { gMax = gMax_; }
57 /***************************************************/
58
59 private:
60 void resize();
61
65 double dt{1e-3};
66
70 double theta{0.5};
71
75 double t{0}, tPlot{0};
76
80 int iter{0}, step{0}, integrationSteps{0}, maxIter{0}, sumIter{0};
81
85 double s0{0}, time{0};
86
90 int stepPlot{0};
91
93 double gMax{-1};
94 };
95
96 }
97
98 #endif /* _THETA_TIME_STEPPING_INTEGRATOR_H_ */
MBSim::ThetaTimeSteppingIntegrator::theta
double theta
convex combination parameter between explicit (0) and implicit (1) Euler scheme
Definition: theta_time_stepping_integrator.h:70
MBSim::ThetaTimeSteppingIntegrator::s0
double s0
computing time counter
Definition: theta_time_stepping_integrator.h:85
MBSim::ThetaTimeSteppingIntegrator
Definition: theta_time_stepping_integrator.h:36
MBSim::Integrator
integrator-interface for dynamic systems
Definition: integrator.h:37
MBSim::ThetaTimeSteppingIntegrator::dt
double dt
step size
Definition: theta_time_stepping_integrator.h:65
MBSim::ThetaTimeSteppingIntegrator::stepPlot
int stepPlot
plot step difference
Definition: theta_time_stepping_integrator.h:90
MBSim::ThetaTimeSteppingIntegrator::iter
int iter
iteration counter for constraints, plots, integration, maximum constraints, cummulation constraint
Definition: theta_time_stepping_integrator.h:80
MBSim::ThetaTimeSteppingIntegrator::initializeUsingXML
void initializeUsingXML(xercesc::DOMElement *element) override
initialize integrator
Definition: theta_time_stepping_integrator.cc:162
MBSim::Integrator::integrate
virtual void integrate()=0
start the integration of the system set by setSystem. Each class implemeting this function should cal...
MBSim::ThetaTimeSteppingIntegrator::~ThetaTimeSteppingIntegrator
~ThetaTimeSteppingIntegrator() override=default
destructor
MBSim::ThetaTimeSteppingIntegrator::gMax
double gMax
Definition: theta_time_stepping_integrator.h:93
MBSim::ThetaTimeSteppingIntegrator::integrate
void integrate() override
start the integration of the system set by setSystem. Each class implemeting this function should cal...
Definition: theta_time_stepping_integrator.cc:156
MBSim::ThetaTimeSteppingIntegrator::t
double t
time and plot time
Definition: theta_time_stepping_integrator.h:75
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30