20 #ifndef _QUASI_STATIC_INTEGRATOR_H_
21 #define _QUASI_STATIC_INTEGRATOR_H_
23 #include "integrator.h"
24 #include "mbsim/functions/function.h"
25 #include<mbsim/dynamic_system_solver.h>
27 namespace MBSimIntegrator {
77 sys(sys_), t(t_), z(z_) {
126 void setStepSize(
double dt_) {
129 void setgTolerance(
double tolerance_) {
132 void sethTolerance(
double tolerance_) {
135 void setmaxExtraPolate(
int value) {
138 void setextraPolateAfter(
int value) {
141 void setupdateJacobianEvery(
int value) {
170 int iter, step, integrationSteps, maxIter, sumIter;
jacFun(MBSim::DynamicSystemSolver *sys_, double t_, fmatvec::Vec &z_)
constructor
Definition: quasi_static_integrator.h:76
virtual void initializeUsingXML(xercesc::DOMElement *element)
initialize integrator
Definition: quasi_static_integrator.cc:215
int maxExtraPolate
value of how many points in the past should be used to extrapolate for new value
Definition: quasi_static_integrator.h:175
solver interface for modelling and simulation of dynamic systems
Definition: dynamic_system_solver.h:48
function for the dh/dq
Definition: quasi_static_integrator.h:71
virtual ~hgFun()
destructor
Definition: quasi_static_integrator.h:46
std::ofstream integPlot
file stream for integration information
Definition: quasi_static_integrator.h:205
virtual ~QuasiStaticIntegrator()
destructor
Definition: quasi_static_integrator.h:113
fmatvec::Vec z
state, position, velocity, order coordinate of dynamical system
Definition: quasi_static_integrator.h:200
int stepPlot
plot step difference
Definition: quasi_static_integrator.h:195
double s0
computing time counter
Definition: quasi_static_integrator.h:190
int extraPolateAfter
extrapolate after such and that integration steps
Definition: quasi_static_integrator.h:180
double dt
step size
Definition: quasi_static_integrator.h:150
calculate h vector according the new q and system boundary conditions
Definition: quasi_static_integrator.h:34
double t
time and plot time
Definition: quasi_static_integrator.h:155
double hTol
tolerance for newton iteration for forces
Definition: quasi_static_integrator.h:165
double gTol
tolerance for the newton iteration for distances
Definition: quasi_static_integrator.h:160
Definition: planar_contour.h:31
virtual ~jacFun()
destructor
Definition: quasi_static_integrator.h:83
Definition: quasi_static_integrator.h:103
QuasiStaticIntegrator()
constructor
Definition: quasi_static_integrator.cc:47
integrator-interface for dynamic systems
Definition: integrator.h:40
hgFun(MBSim::DynamicSystemSolver *sys_)
constructor
Definition: quasi_static_integrator.h:39
virtual void integrate(MBSim::DynamicSystemSolver &system)
start the integration
Definition: quasi_static_integrator.cc:208
static DynamicSystemSolver * system
dynamic system
Definition: solver.h:65
int updateJacobianEvery
value of how often the Jacobian should be updated every step
Definition: quasi_static_integrator.h:185
int iter
iteration counter for constraints, plots, integration, maximum constraints, cummulation constraint ...
Definition: quasi_static_integrator.h:170