20 #ifndef _MU_TIME_STEPPING_INTEGRATOR_H_
21 #define _MU_TIME_STEPPING_INTEGRATOR_H_
23 #include "integrator.h"
25 namespace MBSimIntegrator {
54 void setStepSize(
double dt_) {
dt = dt_; }
55 void setTheta(
double theta_ ) {
theta = theta_; }
105 int iter,step, integrationSteps, maxIter, sumIter;
double dt
step size
Definition: theta_time_stepping_integrator.h:90
bool driftCompensation
flag for drift compensation
Definition: theta_time_stepping_integrator.h:130
solver interface for modelling and simulation of dynamic systems
Definition: dynamic_system_solver.h:48
void postIntegrate(MBSim::DynamicSystemSolver &system)
postintegration steps
Definition: theta_time_stepping_integrator.cc:156
void subIntegrate(MBSim::DynamicSystemSolver &system, double tStop)
integration steps
Definition: theta_time_stepping_integrator.cc:101
void integrate(MBSim::DynamicSystemSolver &system)
start the integration
Definition: theta_time_stepping_integrator.cc:170
virtual void initializeUsingXML(xercesc::DOMElement *element)
initialize integrator
Definition: theta_time_stepping_integrator.cc:177
std::ofstream integPlot
file stream for integration information
Definition: theta_time_stepping_integrator.h:125
double s0
computing time counter
Definition: theta_time_stepping_integrator.h:110
int stepPlot
plot step difference
Definition: theta_time_stepping_integrator.h:115
virtual ~ThetaTimeSteppingIntegrator()
destructor
Definition: theta_time_stepping_integrator.h:46
double theta
convex combination parameter between explicit (0) and implicit (1) Euler scheme
Definition: theta_time_stepping_integrator.h:95
int iter
iteration counter for constraints, plots, integration, maximum constraints, cummulation constraint ...
Definition: theta_time_stepping_integrator.h:105
Definition: theta_time_stepping_integrator.h:36
fmatvec::Vec z
state, position, velocity, order coordinate of dynamical system
Definition: theta_time_stepping_integrator.h:120
double t
time and plot time
Definition: theta_time_stepping_integrator.h:100
void update(MBSim::DynamicSystemSolver &system, const fmatvec::Vec &z, double t)
update of dynamic system necessary values concerning theta time stepping integrator ...
Definition: theta_time_stepping_integrator.cc:43
ThetaTimeSteppingIntegrator()
constructor
Definition: theta_time_stepping_integrator.cc:41
integrator-interface for dynamic systems
Definition: integrator.h:40
static DynamicSystemSolver * system
dynamic system
Definition: solver.h:65
void preIntegrate(MBSim::DynamicSystemSolver &system)
preintegration steps
Definition: theta_time_stepping_integrator.cc:66