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radau5_integrator.h
1 /* Copyright (C) 2004-2006 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 _RADAU5_INTEGRATOR_H_
24 #define _RADAU5_INTEGRATOR_H_
25 
26 #include "integrator.h"
27 
28 namespace MBSimIntegrator {
29 
32  class RADAU5Integrator : public Integrator {
33 
34  private:
35 
36  static void fzdot(int* n, double* t, double* z, double* zd, double* rpar, int* ipar);
37  static void plot(int* nr, double* told, double* t, double* z, double* cont, int* lrc, int* n, double* rpar, int* ipar, int* irtrn);
38 
39  static double tPlot;
40  static double dtOut;
41  static std::ofstream integPlot;
42  static double s0;
43  static double time;
44  static bool output_;
45 
51  double dt0;
53  int maxSteps;
55  double dtMax;
56 
57  public:
58 
60  ~RADAU5Integrator() {}
61 
62  void setAbsoluteTolerance(const fmatvec::Vec &aTol_) {aTol = aTol_;}
63  void setAbsoluteTolerance(double aTol_) {aTol = fmatvec::Vec(1,fmatvec::INIT,aTol_);}
64  void setRelativeTolerance(const fmatvec::Vec &rTol_) {rTol = rTol_;}
65  void setRelativeTolerance(double rTol_) {rTol = fmatvec::Vec(1,fmatvec::INIT,rTol_);}
66  void setInitialStepSize(double dt0_) {dt0 = dt0_;}
67  void setMaximalStepSize(double dtMax_) {dtMax = dtMax_;}
68  void setMaxStepNumber(int maxSteps_) {maxSteps = maxSteps_;}
69 
71 
72  virtual void initializeUsingXML(xercesc::DOMElement *element);
73  };
74 
75 }
76 
77 #endif
Vector< Ref, double > Vec
solver interface for modelling and simulation of dynamic systems
Definition: dynamic_system_solver.h:48
void integrate(MBSim::DynamicSystemSolver &system)
start the integration
Definition: radau5_integrator.cc:81
fmatvec::Vec aTol
Definition: radau5_integrator.h:47
int maxSteps
Definition: radau5_integrator.h:53
fmatvec::Vec rTol
Definition: radau5_integrator.h:49
double dt0
Definition: radau5_integrator.h:51
DAE-Integrator RADAU5.
Definition: radau5_integrator.h:32
virtual void initializeUsingXML(xercesc::DOMElement *element)
initialize integrator
Definition: radau5_integrator.cc:183
integrator-interface for dynamic systems
Definition: integrator.h:40
static DynamicSystemSolver * system
dynamic system
Definition: solver.h:65
double dtMax
Definition: radau5_integrator.h:55

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