mbsim 4.0.0 MBSim Kernel

seulex_integrator.h
1 /* Copyright (C) 2004-2018 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 _SEULEX_INTEGRATOR_H_
24 #define _SEULEX_INTEGRATOR_H_
25
26 #include "root_finding_integrator.h"
27
28 namespace MBSim {
29
32 class SEULEXIntegrator : public RootFindingIntegrator {
33
34 public:
35 enum Formalism {
36 ODE=0,
37 DAE1,
38 unknown
39 };
40
41 private:
42 typedef void (*Fzdot)(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
43 typedef void (*Mass)(int* n, double* m, int* lmas, double* rpar, int* ipar);
44 static Fzdot fzdot[2];
45 static Mass mass[2];
46 static void fzdotODE(int* n, double* t, double* z, double* zd, double* rpar, int* ipar);
47 static void fzdotDAE1(int* n, double* t, double* y, double* yd, double* rpar, int* ipar);
48 static void massFull(int* n, double* m, int* lmas, double* rpar, int* ipar);
49 static void massReduced(int* n, double* m, int* lmas, double* rpar, int* ipar);
50 static void plot(int* nr, double* told, double* x, double *y, double *rc, int* lrc, int* ic, int* lic, int* n, double* rpar, int* ipar, int* irtrn);
51
52 void calcSize();
53 void reinit();
54
55 double tPlot{0};
56 double dtOut{0};
57 double s0;
58 double time{0};
59
61 fmatvec::Vec aTol;
63 fmatvec::Vec rTol;
65 double dt0{0};
67 int maxSteps{0};
69 double dtMax{0};
71 Formalism formalism{ODE};
73 bool reduced{false};
75 bool autonom{false};
76
77 int neq, mlJac, muJac;
78 fmatvec::VecInt iWork;
79 fmatvec::Vec work;
80
81 public:
82 ~SEULEXIntegrator() override = default;
83
84 void setAbsoluteTolerance(const fmatvec::Vec &aTol_) { aTol <<= aTol_; }
85 void setAbsoluteTolerance(double aTol_) { aTol.resize(1,fmatvec::INIT,aTol_); }
86 void setRelativeTolerance(const fmatvec::Vec &rTol_) { rTol <<= rTol_; }
87 void setRelativeTolerance(double rTol_) { rTol.resize(1,fmatvec::INIT,rTol_); }
88 void setInitialStepSize(double dt0_) { dt0 = dt0_; }
89 void setMaximumStepSize(double dtMax_) { dtMax = dtMax_; }
90 void setStepLimit(int maxSteps_) { maxSteps = maxSteps_; }
91 void setFormalism(Formalism formalism_) { formalism = formalism_; }
92 void setReducedForm(bool reduced_) { reduced = reduced_; }
93 void setAutonomousSystem(bool autonom_) { autonom = autonom_; }
94
95 using Integrator::integrate;
96 void integrate() override;
97
98 void initializeUsingXML(xercesc::DOMElement *element) override;
99 };
100
101 }
102
103 #endif
MBSim::SEULEXIntegrator::dt0
double dt0
Definition: seulex_integrator.h:65
MBSim::SEULEXIntegrator::maxSteps
int maxSteps
Definition: seulex_integrator.h:67
MBSim::RootFindingIntegrator
Integrator with root-finding.
Definition: root_finding_integrator.h:32
MBSim::SEULEXIntegrator
DAE-Integrator SEULEX.
Definition: seulex_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::SEULEXIntegrator::rTol
fmatvec::Vec rTol
Definition: seulex_integrator.h:63
MBSim::SEULEXIntegrator::dtMax
double dtMax
Definition: seulex_integrator.h:69
MBSim::SEULEXIntegrator::integrate
void integrate() override
start the integration of the system set by setSystem. Each class implemeting this function should cal...
Definition: seulex_integrator.cc:204
MBSim::SEULEXIntegrator::autonom
bool autonom
Definition: seulex_integrator.h:75
MBSim::SEULEXIntegrator::initializeUsingXML
void initializeUsingXML(xercesc::DOMElement *element) override
initialize integrator
Definition: seulex_integrator.cc:344
MBSim::SEULEXIntegrator::aTol
fmatvec::Vec aTol
Definition: seulex_integrator.h:61
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30
MBSim::SEULEXIntegrator::formalism
Formalism formalism
Definition: seulex_integrator.h:71
MBSim::SEULEXIntegrator::reduced
bool reduced
Definition: seulex_integrator.h:73