mbsim 4.0.0 MBSim Kernel

hets2_integrator.h
1 /* Copyright (C) 2004-2014 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: thorsten.schindler@mytum.de
18 */
19
20 #ifndef _HETS2_INTEGRATOR_H_
21 #define _HETS2_INTEGRATOR_H_
22
23 #include "integrator.h"
24
25 namespace MBSim {
26
43 class HETS2Integrator : public Integrator {
44 public:
48 ~HETS2Integrator() override = default;
49
54 void preIntegrate() override;
55
60 void subIntegrate(double tStop) override;
61
66 void postIntegrate() override;
67
68 /* INHERITED INTERFACE OF INTEGRATOR */
69 using Integrator::integrate;
70 void integrate() override;
71 void initializeUsingXML(xercesc::DOMElement *element) override;
72 /***************************************************/
73
74 /* GETTER / SETTER */
75 void setStepSize(double dt_) { dt = dt_; dtImpulsive = dt*1e-1, dtInfo = dt; }
76 /***************************************************/
77
78 void updatebc();
79 void updatezd();
80
81 private:
87 bool evaluateStage();
88
92 double dt{1e-3}, dtImpulsive{1e-4}, dtInfo{1e-3};
93
97 double tPlot{0.};
98
102 int integrationSteps{0}, integrationStepsConstraint{0}, integrationStepsImpact{0}, maxIter{0}, sumIter{0};
103
107 double s0{0.}, time{0.};
108
109 fmatvec::Vec bc;
110 };
111
112 }
113
114 #endif /* _HETS2_INTEGRATOR_H_ */
MBSim::HETS2Integrator
time integration scheme on velocity level for nonsmooth dynamical systems using half-explicit trapezo...
Definition: hets2_integrator.h:43
MBSim::HETS2Integrator::dt
double dt
step size for non-impulsive periods, and impulsive periods, and last used
Definition: hets2_integrator.h:92
MBSim::HETS2Integrator::preIntegrate
void preIntegrate() override
initializes the integration
Definition: hets2_integrator.cc:38
MBSim::Integrator
integrator-interface for dynamic systems
Definition: integrator.h:37
MBSim::HETS2Integrator::evaluateStage
bool evaluateStage()
evaluates the dynamical system given the state of the stage until the Jacobian matrices
Definition: hets2_integrator.cc:200
MBSim::HETS2Integrator::postIntegrate
void postIntegrate() override
closes the integration
Definition: hets2_integrator.cc:173
MBSim::HETS2Integrator::s0
double s0
computing time counter
Definition: hets2_integrator.h:107
MBSim::Integrator::integrate
virtual void integrate()=0
start the integration of the system set by setSystem. Each class implemeting this function should cal...
MBSim::HETS2Integrator::integrationSteps
int integrationSteps
iteration counter for constraints, integration, non-impulsive integration, impulsive integration,...
Definition: hets2_integrator.h:102
MBSim::HETS2Integrator::subIntegrate
void subIntegrate(double tStop) override
does the integration
Definition: hets2_integrator.cc:71
MBSim::HETS2Integrator::integrate
void integrate() override
start the integration of the system set by setSystem. Each class implemeting this function should cal...
Definition: hets2_integrator.cc:186
MBSim::HETS2Integrator::tPlot
double tPlot
time and plot time
Definition: hets2_integrator.h:97
MBSim::HETS2Integrator::~HETS2Integrator
~HETS2Integrator() override=default
destructor
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30