mbsim 4.0.0 MBSim Kernel

Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
MBSim::RootFindingIntegrator Class Reference

Integrator with root-finding. More...

`#include <root_finding_integrator.h>`

Inheritance diagram for MBSim::RootFindingIntegrator:
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## Public Member Functions

void | setRootFindingAccuracy (double dtRoot_)
| Define the root-finding accuracy.
void | setPlotOnRoot (bool b)
| Define wether to trigger a plot before and after each found root.
void | setToleranceForPositionConstraints (double gMax_)
| Set the maximum allowed position drift.
void | setToleranceForVelocityConstraints (double gdMax_)
| Set the maximum allowed velocity drift.
double | getToleranceForPositionConstraints ()
| Get the maximum allowed position drift.
double | getToleranceForVelocityConstraints ()
| Get the maximum allowed velocity drift.
virtual void | initializeUsingXML (xercesc::DOMElement *element)
| initialize integrator More...
Public Member Functions inherited from MBSim::Integrator
| Integrator ()
| constructor
| ~Integrator () override=default
| destructor
void | setStartTime (double tStart_)
void | setEndTime (double tEnd_)
void | setPlotStepSize (double dtPlot_)
void | setInitialState (const fmatvec::Vec &z0_)
double | getStartTime () const
double | getEndTime () const
double | getPlotStepSize () const
const fmatvec::Vec & | getInitialState () const override
void | execute () override
| start solving the dynamic system set by setSystem.
virtual void | integrate ()=0
| start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first.
void | integrate (MBSim::DynamicSystemSolver &sys)
| Convinent function: call setSystem(&sys) and integrate()
void | debugInit ()
virtual void | preIntegrate ()
virtual void | subIntegrate (double tStop)
virtual void | postIntegrate ()
Public Member Functions inherited from MBSim::Solver
| Solver ()
| constructor
| ~Solver () override=default
| destructor
void | throwError (const std::string &msg) const
virtual void | postprocessing ()
void | setSystem (DynamicSystemSolver *s)
MBSim::DynamicSystemSolver * | getSystem ()
const MBXMLUtils::DOMEvalException & | getDOMEvalError () const

## Protected Member Functions

bool | signChangedWRTsvLast (const fmatvec::Vec &svStepEnd) const

## Protected Attributes

double | dtRoot {1e-10}
bool | plotOnRoot {false}
double | gMax {-1}
double | gdMax {-1}
fmatvec::Vec | svLast
bool | shift {false}
Protected Attributes inherited from MBSim::Integrator
double | tStart {0.}
| start, end, plot time
double | tEnd {1.}
double | dtPlot {1e-4}
fmatvec::Vec | z0
| initial state
std::string | name
| name of integrator
Protected Attributes inherited from MBSim::Solver
MBSim::DynamicSystemSolver * | system
| dynamic system
MBXMLUtils::DOMEvalException | domEvalError
| Special XML helper variable.

## Detailed Description

Integrator with root-finding.

## Member Function Documentation

## ◆ initializeUsingXML()

void MBSim::RootFindingIntegrator::initializeUsingXML | ( | xercesc::DOMElement * | element | ) |

virtual

initialize integrator

Parameters

  XML | description

Reimplemented from MBSim::Integrator.

Reimplemented in MBSim::BoostOdeintDOS< DOS >, MBSim::RADAU5Integrator, MBSim::RADAUIntegrator, MBSim::RODASIntegrator, MBSim::SEULEXIntegrator, MBSim::PHEM56Integrator, MBSim::LSODIIntegrator, MBSim::DASPKIntegrator, MBSim::LSODEIntegrator, MBSim::DOP853Integrator, MBSim::DOPRI5Integrator, MBSim::ODEXIntegrator, MBSim::LSODAIntegrator, and MBSim::RKSuiteIntegrator.

## Member Data Documentation

## ◆ dtRoot

double MBSim::RootFindingIntegrator::dtRoot {1e-10}

protected

root-finding accuracy

## ◆ gdMax

double MBSim::RootFindingIntegrator::gdMax {-1}

protected

tolerance for velocity constraints

## ◆ gMax

double MBSim::RootFindingIntegrator::gMax {-1}

protected

tolerance for position constraints

## ◆ plotOnRoot

bool MBSim::RootFindingIntegrator::plotOnRoot {false}

protected

plot on root

The documentation for this class was generated from the following files:

- /mbsim-env/mbsim/kernel/mbsim/integrators/root_finding_integrator.h
- /mbsim-env/mbsim/kernel/mbsim/integrators/root_finding_integrator.cc