Explicit and Implicit time-stepping integrator of first or higer order with StepSize Control (SSC) StepSizeControl, GapControl, Extrapolation und concept analogue to TimeSteppingSSCIntegrator. More...

#include <auto_time_stepping_ssc_integrator.h>

Inheritance diagram for MBSim::AutoTimeSteppingSSCIntegrator:

[legend]

Public Member Functions
	AutoTimeSteppingSSCIntegrator ()

	~AutoTimeSteppingSSCIntegrator ()

void	setInitialStepSize (double dt_)

void	setStepSizeMax (double dtMax_)

void	setStepSizeMin (double dtMin_)

void	setmaxGainSSC (double maxGain)

void	setSafetyFactorSSC (double sfactor)

void	setSafetyFactorGapControl (double s)

void	setOutputInterpolation (bool flag=true)

void	setFlagPlotIntegrator (bool flag=true)

void	setGapControl (int strategy=1)

void	setDriftCompensation (bool dc)

void	setMaxOrder (int order_, int method_=0)

void	deactivateSSC (bool flag=false)

void	setFlagErrorTest (int Flag, bool alwaysValid=true)

void	integrate (MBSim::DynamicSystemSolver &system_)

void	integrate (MBSim::DynamicSystemSolver &system_, std::vector< MBSim::DynamicSystemSolver * > systems)

void	integrate (MBSim::DynamicSystemSolver &systemT1_, MBSim::DynamicSystemSolver &systemT2_, MBSim::DynamicSystemSolver &systemT3_, MBSim::DynamicSystemSolver &systemTP_, int Threads=0)

void	integrate (MBSim::DynamicSystemSolver &systemT1_, MBSim::DynamicSystemSolver &systemT2_, MBSim::DynamicSystemSolver &systemT3_, MBSim::DynamicSystemSolver &systemTP_, std::vector< MBSim::DynamicSystemSolver * > systems, int Threads=0)

void	setAbsoluteTolerance (const fmatvec::Vec &aTol_)

void	setAbsoluteTolerance (double aTol_)

void	setRelativeTolerance (const fmatvec::Vec &rTol_)

void	setRelativeTolerance (double rTol_)

void	setgapTolerance (double gTol)

void	preIntegrate (MBSim::DynamicSystemSolver &system)

void	subIntegrate (MBSim::DynamicSystemSolver &system, double tStop)

void	postIntegrate (MBSim::DynamicSystemSolver &system)

void	preIntegrate (MBSim::DynamicSystemSolver &systemT1_, MBSim::DynamicSystemSolver &systemT2_, MBSim::DynamicSystemSolver &systemT3_, MBSim::DynamicSystemSolver &systemTP_)

void	getAllSetValuedla (fmatvec::Vec &la_, fmatvec::VecInt &la_Sizes, std::vector< MBSim::Link * > &SetValuedLinkList)

void	setAllSetValuedla (const fmatvec::Vec &la_, const fmatvec::VecInt &la_Sizes, std::vector< MBSim::Link * > &SetValuedLinkList)

void	getDataForGapControl ()

bool	testTolerances ()

bool	GapControl (double qUnsafe, bool SSCTestOK)

bool	changedLinkStatus (const fmatvec::VecInt &L1, const fmatvec::VecInt &L2, int ex)

double	calculatedtNewRel (const fmatvec::Vec &ErrorLocal, double H)

void	plot ()

void	plotPar ()

void	doIntegPlot ()

virtual void	initializeUsingXML (xercesc::DOMElement *element)

void	update (MBSim::DynamicSystemSolver &system, const fmatvec::Vec &z, double t, int nrSys_=1)
	special update of dynamic system for theta time stepping integrator More...

void	doStep (MBSim::DynamicSystemSolver &system_, fmatvec::Vec &z_, int nrSys_, double t_, double dt_, bool exp_)

void	doExpStep (MBSim::DynamicSystemSolver &system_, fmatvec::Vec &z_, int nrSys_, double t_, double dt_)
	Do One Explicit Time Integration Step. More...

void	doImpStep (MBSim::DynamicSystemSolver &system_, fmatvec::Vec &z_, int nrSys_, double t_, double dt_)
	Do One Implicit Time Integration Step. More...

void	doLinImpStep (MBSim::DynamicSystemSolver &system_, fmatvec::Vec &z_, int nrSys_, double t_, double dt_)
	Do One Linear Implicit Time Integration Step. More...

void	setTheta (double theta_)

void	getdhdqdhdu (fmatvec::Mat &dhdq_, fmatvec::Mat &dhdu_, const fmatvec::Vec z_, const double t_, const int nsys_)

void	setItMax (int itMax_)

void	setInexactJac (bool inexactJac_)

void	setItTol (double itTol_)

void	setSetValuedForceLawsExplicit (bool SetValuedForceLawsExplicit_)

void	setPlotParallel (bool plotParallel_)

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_)

double	getStartTime () const

double	getEndTime () const

double	getPlotStepSize () const

void	execute () override
	start solving the dynamic system set by setSystem. More...

virtual void	integrate ()=0
	start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first. More...

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 ()

void	initializeUsingXML (xercesc::DOMElement *element) override
	initialize integrator More...

Public Member Functions inherited from MBSim::Solver
	Solver ()
	constructor

	~Solver () override=default
	destructor

void	throwError (const std::string &msg) const

virtual void	execute ()=0
	start solving the dynamic system set by setSystem. More...

virtual void	postprocessing ()

virtual void	initializeUsingXML (xercesc::DOMElement *element)

void	setInitialState (const fmatvec::Vec &z0_)

const fmatvec::Vec &	getInitialState () const

void	setSystem (DynamicSystemSolver *s)

MBSim::DynamicSystemSolver *	getSystem ()

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Protected Attributes
MBSim::DynamicSystemSolver *	sysT1

MBSim::DynamicSystemSolver *	sysT2

MBSim::DynamicSystemSolver *	sysT3

MBSim::DynamicSystemSolver *	sysTP

double	dt

double	dtOld

double	dte

double	dtMin

double	dtMax

double	dt_SSC_vorGapControl

bool	driftCompensation

double	t

double	tPlot

double	tPlotP

int	qSize

int	xSize

int	uSize

int	zSize

fmatvec::Vec	ze

fmatvec::Vec	zeP

fmatvec::Vec	zi

fmatvec::Vec	ziP

fmatvec::Vec	zT1

fmatvec::Vec	zT2

fmatvec::Vec	zT3

fmatvec::Vec	zTP

fmatvec::Vec	z1d

fmatvec::Vec	z2d

fmatvec::Vec	z2dRE

fmatvec::Vec	z3d

fmatvec::Vec	z4d

fmatvec::Vec	z6d

fmatvec::Vec	z2b

fmatvec::Vec	z3b

fmatvec::Vec	z4b

fmatvec::Vec	z6b

fmatvec::Vec	zStern

fmatvec::VecInt	LS

fmatvec::VecInt	LSe

fmatvec::VecInt	LSA

fmatvec::VecInt	LSB1

fmatvec::VecInt	LSB2

fmatvec::VecInt	LSC1

fmatvec::VecInt	LSC2

fmatvec::VecInt	LSC3

fmatvec::VecInt	LSC4

fmatvec::VecInt	LSD1

fmatvec::VecInt	LSD2

fmatvec::VecInt	LSD3

fmatvec::VecInt	LSD4

fmatvec::VecInt	LSD5

fmatvec::VecInt	LSD6

fmatvec::VecInt	LS_Reg

fmatvec::VecInt	LSe_Reg

fmatvec::VecInt	LSA_Reg

fmatvec::VecInt	LSB1_Reg

fmatvec::VecInt	LSB2_Reg

fmatvec::VecInt	LSC1_Reg

fmatvec::VecInt	LSC2_Reg

fmatvec::VecInt	LSC3_Reg

fmatvec::VecInt	LSC4_Reg

fmatvec::VecInt	LSD1_Reg

fmatvec::VecInt	LSD2_Reg

fmatvec::VecInt	LSD3_Reg

fmatvec::VecInt	LSD4_Reg

fmatvec::VecInt	LSD5_Reg

fmatvec::VecInt	LSD6_Reg

fmatvec::VecInt	LS_Reg_T1

fmatvec::VecInt	LS_Reg_T2

fmatvec::VecInt	LS_Reg_T3

fmatvec::VecInt	LS_Reg_z2b

fmatvec::VecInt	S_Reg_z1d

fmatvec::VecInt	LS_Reg_z4b

fmatvec::VecInt	LS_Reg_z6b

fmatvec::VecInt	LS_Reg_z1d

fmatvec::VecInt	LS_Reg_z3b

fmatvec::VecInt	LSB1_2_Reg

fmatvec::VecInt	LS_tmp

fmatvec::Vec	la

fmatvec::Vec	laP

fmatvec::Vec	lae

fmatvec::Vec	laeP

fmatvec::Vec	la1d

fmatvec::Vec	la2b

fmatvec::VecInt	laSizes

fmatvec::VecInt	laSizesP

fmatvec::VecInt	laeSizes

fmatvec::VecInt	laeSizesP

fmatvec::VecInt	la1dSizes

fmatvec::VecInt	la2bSizes

fmatvec::Vec	qT1

fmatvec::Vec	qT2

fmatvec::Vec	qT3

fmatvec::Vec	qTP

fmatvec::Vec	uT1

fmatvec::Vec	uT2

fmatvec::Vec	uT3

fmatvec::Vec	uTP

fmatvec::Vec	xT1

fmatvec::Vec	xT2

fmatvec::Vec	xT3

fmatvec::Vec	xTP

fmatvec::Vec	gInActive

fmatvec::Vec	gdInActive

std::vector< MBSim::Link * >	SetValuedLinkListT1

std::vector< MBSim::Link * >	SetValuedLinkListT2

std::vector< MBSim::Link * >	SetValuedLinkListT3

std::vector< MBSim::Link * >	SetValuedLinkListTP

int	StepsWithUnchangedConstraints

int	FlagErrorTest

bool	FlagErrorTestAlwaysValid

fmatvec::Vec	aTol

fmatvec::Vec	rTol

bool	FlagSSC

int	maxOrder

int	method

bool	FlagGapControl

double	gapTol

double	maxGainSSC

double	safetyFactorSSC

std::ofstream	integPlot

bool	FlagPlotIntegrator

bool	FlagPlotIntegrationSum

bool	FlagPlotEveryStep

bool	outputInterpolation

double	safetyFactorGapControl

int	GapControlStrategy

int	numThreads

int	numThreadsB1

double	time

double	dhdztime

double	timeB1

double	timeB2

double	timePlot

double	timePlotPar

MBSim::StopWatch	Timer

MBSim::StopWatch	dhdzTimer

MBSim::StopWatch	TimerB1

MBSim::StopWatch	TimerB2

MBSim::StopWatch	TimerPlot

MBSim::StopWatch	TimerPlotPar

int	iter

int	iterA

int	iterB1

int	iterB2

int	iterC1

int	iterC2

int	iterC3

int	iterC4

int	iterB2RE

int	maxIterUsed

int	maxIter

int	sumIter

int	integrationSteps

int	integrationStepswithChange

int	refusedSteps

int	refusedStepsWithImpact

int	JacUpdateT1

int	JacUpdateT2

int	JacUpdateT3

int	wrongAlertGapControl

int	stepsOkAfterGapControl

int	stepsRefusedAfterGapControl

int	statusGapControl

int	singleStepsT1

int	singleStepsT2

int	singleStepsT3

double	dtRelGapControl

double	qUncertaintyByExtrapolation

int	indexLSException

fmatvec::Vec	gUniActive

double	Penetration

double	PenetrationCounter

double	PenetrationLog

double	PenetrationMin

double	PenetrationMax

double	maxdtUsed

double	mindtUsed

bool	ChangeByGapControl

bool	calcBlock2

bool	IterConvergence

bool	ConstraintsChanged

bool	ConstraintsChangedBlock1

bool	ConstraintsChangedBlock2

bool	ConstraintsChanged_B1_A

int	integrationStepsOrder1

int	integrationStepsOrder2

int	order

int	StepTrials

int	AnzahlAktiverKontakte

double	gNDurchschnittprostep

int	iter_T1

int	iter_T2

int	iter_T3

int	step

fmatvec::RangeV	Iq

fmatvec::RangeV	Iu

fmatvec::RangeV	Ix

bool	expInt

int	it_T1

int	it_T2

int	it_T3

bool	gAC_T1

bool	gAC_T2

bool	gAC_T3

bool	gAC_reg_T1

bool	gAC_reg_T2

bool	gAC_reg_T3

bool	upgedated_T1

bool	upgedated_T2

bool	upgedated_T3

bool	JacUpdate_B1_T1

bool	JacUpdate_B2_T1

bool	JacUpdate_B1_T2

bool	JacUpdate_B2_T2

bool	JacUpdate_T1

bool	JacUpdate_T2

int	itMax

double	itTol

fmatvec::Mat	dhdq_n_T1

fmatvec::Mat	dhdu_n_T1

fmatvec::Mat	dhdq_n_T2

fmatvec::Mat	dhdu_n_T2

fmatvec::Mat	dhdq_n_T3

fmatvec::Mat	dhdu_n_T3

fmatvec::Mat	dhdq_T1

fmatvec::Mat	dhdu_T1

fmatvec::Mat	dhdq_T2

fmatvec::Mat	dhdu_T2

fmatvec::Mat	dhdq_T3

fmatvec::Mat	dhdu_T3

fmatvec::Mat	dhdq_z1d

fmatvec::Mat	dhdu_z1d

fmatvec::Mat	dhdq_z2b

fmatvec::Mat	dhdq_z3b

fmatvec::Mat	dhdq_z4b

fmatvec::Mat	dhdq_z6b

fmatvec::Mat	dhdu_z2b

fmatvec::Mat	dhdu_z3b

fmatvec::Mat	dhdu_z4b

fmatvec::Mat	dhdu_z6b

fmatvec::Mat	dhdq_end

fmatvec::Mat	dhdu_end

fmatvec::Mat	dhdq_z2d

fmatvec::Mat	dhdu_z2d

fmatvec::Mat	dhdq_z2dRE

fmatvec::Mat	dhdu_z2dRE

fmatvec::Mat	dhdq_z3d

fmatvec::Mat	dhdu_z3d

fmatvec::Mat	dhdq_z4d

fmatvec::Mat	dhdu_z4d

fmatvec::Mat	dhdq_z6d

fmatvec::Mat	dhdu_z6d

double	theta

bool	parJac

bool	parInt

std::vector< MBSim::DynamicSystemSolver * > *	psystems

bool	inexactJac

int	maxImpIter

int	JacConstSteps

bool	SetValuedForceLawsExplicit

bool	plotParallel

fmatvec::Mat	JacVgl

fmatvec::Mat	JacVgl2

fmatvec::Mat	JacVgl3

int	JacCounter

Protected Attributes inherited from MBSim::Integrator
double	tStart {0.}
	start, end, plot time

double	tEnd {1.}

double	dtPlot {1e-4}

std::string	name
	name of integrator

Protected Attributes inherited from MBSim::Solver
fmatvec::Vec	z0
	initial state

MBSim::DynamicSystemSolver *	system
	dynamic system

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

Detailed Description

Explicit and Implicit time-stepping integrator of first or higer order with StepSize Control (SSC) StepSizeControl, GapControl, Extrapolation und concept analogue to TimeSteppingSSCIntegrator.

important options / settings :

a) setMaxOrder(int order, int method=0) order: maximum order of integration scheme 1 to 3 with SSC by extrapolation (method=0) (order=4 without SSC) 1 to 4 with embedded SSC (1=1(2), ... 4=4(5)) (method=1 or 2) method: method used for error estimation and Stepsize control 0: step size control by extrapolation (steps wit dt and dt/2 are compared) DEFAULT 1: embedded method (compare maxOrder maxOrder+1); proceed with maxOrder (recommended) 2: embedded method with local extrapolation (integration is continued with maxOrder+1)

b) setFlagErrorTest(int Flag, bool alwaysValid= true) Flag: for scaling variables for the purpose of error estimation
0: include velocities u for error test 2: scale velocities u with stepsize for error test 3: exclude velocities u for error test alwaysValid: true : u is scaled resp. exluded during smooth and nonsmooth steps alwaysValid: false : u is scaled resp. exluded only during nonsmooth steps

c) deactivateSSC(bool flag=false) : maximum order: 1 to 4

d) setGapControl(bool FlagGapControl=true, int GapControlStrategy=0)
FlagGapControl activate / deactivate gap control GapControlStrategy choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated

e) Basic Implicit Integration Implicit Integration only possible with:

StepSizeControl method 0 (step size control by extrapolation)
GapControl deactivated (GapControl should work, but isn't tested in detail)

f) setInexactJac(bool inexactJac_=false) inexactJac_: true: - Linear Implicit Integration: Jacobis are updated if time step size changes,

Full Implicit Integration: Jacobis are updated of Newton-Iterations doesn't converge

e) Parallel Computation: The concept allows the following parallel computation methods:

parallel computation of different time step sizes dt, dt/2, etc.
parallel computation of Jacobi matrices (dhdu, dhdq)
parallel plotting of system during the next integration step

Usage:

integrate(sys): sequential computation
integrate(sys, systems): sequential integration, parallel computation of Jacobis
integrate(sys,sys,sys,sys): parallel integration, parallel plotting, sequential computation of Jacobis
integrate(sys,sys,sys,sys,systems): parallel integration, parallel plotting, parallel computations of Jacobis

Author: Jan Clauberg

Constructor & Destructor Documentation

◆ AutoTimeSteppingSSCIntegrator()

MBSim::AutoTimeSteppingSSCIntegrator::AutoTimeSteppingSSCIntegrator ( )

Constructor with \default dt(1e-5), \default driftCompensation(false)

◆ ~AutoTimeSteppingSSCIntegrator()

MBSim::AutoTimeSteppingSSCIntegrator::~AutoTimeSteppingSSCIntegrator ( )

Destructor

Member Function Documentation

◆ doExpStep()

void MBSim::AutoTimeSteppingSSCIntegrator::doExpStep	(	MBSim::DynamicSystemSolver &	system_,
		fmatvec::Vec &	z_,
		int	nrSys_,
		double	t_,
		double	dt_
	)

Do One Explicit Time Integration Step.

Parameters

dynamic	system
Vector	z
Number	of Dynamic System
Current	Time
Current	TimeStepSize

◆ doImpStep()

void MBSim::AutoTimeSteppingSSCIntegrator::doImpStep	(	MBSim::DynamicSystemSolver &	system_,
		fmatvec::Vec &	z_,
		int	nrSys_,
		double	t_,
		double	dt_
	)

Do One Implicit Time Integration Step.

Parameters

dynamic	system
Vector	z
Number	of Dynamic System
Current	Time
Current	TimeStepSize

◆ doLinImpStep()

void MBSim::AutoTimeSteppingSSCIntegrator::doLinImpStep	(	MBSim::DynamicSystemSolver &	system_,
		fmatvec::Vec &	z_,
		int	nrSys_,
		double	t_,
		double	dt_
	)

Do One Linear Implicit Time Integration Step.

Parameters

dynamic	system
Vector	z
Number	of Dynamic System
Current	Time
Current	TimeStepSize

◆ getAllSetValuedla()

void MBSim::AutoTimeSteppingSSCIntegrator::getAllSetValuedla	(	fmatvec::Vec &	la_,
		fmatvec::VecInt &	la_Sizes,
		std::vector< MBSim::Link * > &	SetValuedLinkList
	)

internal subroutines

◆ getdhdqdhdu()

void MBSim::AutoTimeSteppingSSCIntegrator::getdhdqdhdu	(	fmatvec::Mat &	dhdq_,
		fmatvec::Mat &	dhdu_,
		const fmatvec::Vec	z_,
		const double	t_,
		const int	nsys_
	)

get Jabobians by parallel calculation

◆ initializeUsingXML()

void MBSim::AutoTimeSteppingSSCIntegrator::initializeUsingXML ( xercesc::DOMElement * element )

virtual

Reimplemented from MBSim::Solver.

◆ integrate()

void MBSim::AutoTimeSteppingSSCIntegrator::integrate ( MBSim::DynamicSystemSolver & system_ )

Start the integration

◆ preIntegrate()

void MBSim::AutoTimeSteppingSSCIntegrator::preIntegrate ( MBSim::DynamicSystemSolver & system )

subroutines for integrate function

◆ setAbsoluteTolerance()

void MBSim::AutoTimeSteppingSSCIntegrator::setAbsoluteTolerance ( const fmatvec::Vec & aTol_ )

inline

Tolerances for Integrator

◆ setDriftCompensation()

void MBSim::AutoTimeSteppingSSCIntegrator::setDriftCompensation ( bool dc )

inline

Set drift compensation

◆ setFlagErrorTest()

void MBSim::AutoTimeSteppingSSCIntegrator::setFlagErrorTest	(	int	Flag,
		bool	alwaysValid = `true`
	)

Set Flag vor ErrorTest (default 0: all variables ae tested; 2: u is scaled with dt; 3: exclude u alwaysValid = true : u is scaled resp. exluded during the smooth and nonsmooth part alwaysValid = false : u is scaled resp. exluded only during nonsmooth steps

◆ setFlagPlotIntegrator()

void MBSim::AutoTimeSteppingSSCIntegrator::setFlagPlotIntegrator ( bool flag = true )

inline

set Flag for writing integrator info at each step to a file (default true)

◆ setGapControl()

void MBSim::AutoTimeSteppingSSCIntegrator::setGapControl ( int strategy = 1 )

inline

Set Flag to optimise dt for minmal penetration of unilateral links; choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated with statistic calculations -1: gap control deactivated without statistic calculations

◆ setInexactJac()

void MBSim::AutoTimeSteppingSSCIntegrator::setInexactJac ( bool inexactJac_ )

inline

set of exact or inexact Jabians should be used

◆ setInitialStepSize()

void MBSim::AutoTimeSteppingSSCIntegrator::setInitialStepSize ( double dt_ )

inline

Set initial step size

◆ setItMax()

void MBSim::AutoTimeSteppingSSCIntegrator::setItMax ( int itMax_ )

inline

set maximum number of full implicit iterations

◆ setItTol()

void MBSim::AutoTimeSteppingSSCIntegrator::setItTol ( double itTol_ )

inline

Tolerance for Newton Iterations of full implicit iterations

◆ setmaxGainSSC()

void MBSim::AutoTimeSteppingSSCIntegrator::setmaxGainSSC ( double maxGain )

inline

Set maximal gain for increasing dt by stepsize control

◆ setMaxOrder()

void MBSim::AutoTimeSteppingSSCIntegrator::setMaxOrder	(	int	order_,
		int	method_ = `0`
	)

set maximum order (1,2,3 (method=0) or 1 to 4 (method=1,2) and method 0: SSC by extrapolation (recommended!!);
1,2: embedded SSC; proceed with maxOrder [1] (recommended if you don't want to use 0) or with maxOrder+1 [2] without SSC maximum order from 1 to 4 is possible

◆ setOutputInterpolation()

void MBSim::AutoTimeSteppingSSCIntegrator::setOutputInterpolation ( bool flag = true )

inline

Set Flag for output interpolation

◆ setPlotParallel()

void MBSim::AutoTimeSteppingSSCIntegrator::setPlotParallel ( bool plotParallel_ )

inline

Flag if Plotting should be done in Parallel

◆ setSafetyFactorSSC()

void MBSim::AutoTimeSteppingSSCIntegrator::setSafetyFactorSSC ( double sfactor )

inline

safety factor for stepsize estimation: dt = dt_estimate * safetyFactorSSC (]0;1]; default 0.6)

◆ setSetValuedForceLawsExplicit()

void MBSim::AutoTimeSteppingSSCIntegrator::setSetValuedForceLawsExplicit ( bool SetValuedForceLawsExplicit_ )

inline

Set-valued force laws with explicit or implicit discretization

◆ setStepSizeMax()

void MBSim::AutoTimeSteppingSSCIntegrator::setStepSizeMax ( double dtMax_ )

inline

Set maximal step size

◆ setStepSizeMin()

void MBSim::AutoTimeSteppingSSCIntegrator::setStepSizeMin ( double dtMin_ )

inline

Set minimal step size (default 2*maxOrder*epsroot

◆ setTheta()

void MBSim::AutoTimeSteppingSSCIntegrator::setTheta ( double theta_ )

inline

set combination parameter between explicit (0) and implicit (1) Euler scheme

◆ update()

void MBSim::AutoTimeSteppingSSCIntegrator::update	(	MBSim::DynamicSystemSolver &	system,
		const fmatvec::Vec &	z,
		double	t,
		int	nrSys_ = `1`
	)

special update of dynamic system for theta time stepping integrator

Parameters

dynamic	system
state	vector
time
System	number

Member Data Documentation

◆ aTol

fmatvec::Vec MBSim::AutoTimeSteppingSSCIntegrator::aTol

protected

Absolute Tolerance

◆ dhdq_n_T1

fmatvec::Mat MBSim::AutoTimeSteppingSSCIntegrator::dhdq_n_T1

protected

Jacobi-Matrices for implicit integration

◆ dtRelGapControl

double MBSim::AutoTimeSteppingSSCIntegrator::dtRelGapControl

protected

Other internal variables

◆ expInt

bool MBSim::AutoTimeSteppingSSCIntegrator::expInt

protected

Flag for Explicit or Implicit Integration

◆ FlagErrorTest

int MBSim::AutoTimeSteppingSSCIntegrator::FlagErrorTest

protected

Include (0) or Exclude (3) Variable u or Scale (2) with Stepsize for Error Test

◆ FlagErrorTestAlwaysValid

bool MBSim::AutoTimeSteppingSSCIntegrator::FlagErrorTestAlwaysValid

protected

FlagErrorTest is Always Valid or Only During Nonsmooth Steps

◆ FlagPlotEveryStep

bool MBSim::AutoTimeSteppingSSCIntegrator::FlagPlotEveryStep

protected

every successful integration step is ploted (set dtPlot=0 to activate FlagPlotEveryStep) (default false)

◆ FlagPlotIntegrationSum

bool MBSim::AutoTimeSteppingSSCIntegrator::FlagPlotIntegrationSum

protected

Flag: write integration summary to a file (default true)

◆ FlagPlotIntegrator

bool MBSim::AutoTimeSteppingSSCIntegrator::FlagPlotIntegrator

protected

Flag: write integrator info at each step to a file (default true)

◆ FlagSSC

bool MBSim::AutoTimeSteppingSSCIntegrator::FlagSSC

protected

Stepsize Control activated or Deactivated

◆ gAC_T1

bool MBSim::AutoTimeSteppingSSCIntegrator::gAC_T1

protected

Flag if gActiveChanged (set-valued)

◆ GapControlStrategy

int MBSim::AutoTimeSteppingSSCIntegrator::GapControlStrategy

protected

choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated

◆ gapTol

double MBSim::AutoTimeSteppingSSCIntegrator::gapTol

protected

Toleranz for closing gaps

◆ inexactJac

bool MBSim::AutoTimeSteppingSSCIntegrator::inexactJac

protected

Flag of Exact or Inexact Jacobians should be uses

◆ integPlot

std::ofstream MBSim::AutoTimeSteppingSSCIntegrator::integPlot

protected

filestream for integrator info at each step

◆ integrationSteps

int MBSim::AutoTimeSteppingSSCIntegrator::integrationSteps

protected

Counter for Integrations steps

◆ it_T1

int MBSim::AutoTimeSteppingSSCIntegrator::it_T1

protected

Number of Iterations for Full-Implicit Integration

◆ iter

int MBSim::AutoTimeSteppingSSCIntegrator::iter

protected

Iterations for solving set-valued laws of different systems

◆ iter_T1

int MBSim::AutoTimeSteppingSSCIntegrator::iter_T1

protected

iteration counters

◆ itMax

int MBSim::AutoTimeSteppingSSCIntegrator::itMax

protected

Maximal number of Iterations for Full-Implicit Integration

◆ itTol

double MBSim::AutoTimeSteppingSSCIntegrator::itTol

protected

Tolerance for Full-Implicit Integration

◆ JacCounter

int MBSim::AutoTimeSteppingSSCIntegrator::JacCounter

protected

Counter for all Jacobian Updates

◆ JacUpdate_B1_T1

bool MBSim::AutoTimeSteppingSSCIntegrator::JacUpdate_B1_T1

protected

Flag if Jabobis of different Systems were updated in B1 or B2

◆ JacUpdateT1

int MBSim::AutoTimeSteppingSSCIntegrator::JacUpdateT1

protected

Counter for Jacobi updates

◆ maxGainSSC

double MBSim::AutoTimeSteppingSSCIntegrator::maxGainSSC

protected

maximal gain factor for increasing dt by stepsize control (default 2.5; maxGain * safetyFactor must be GT 1)

◆ maxOrder

int MBSim::AutoTimeSteppingSSCIntegrator::maxOrder

protected

Maximum order of Integration Scheme SSC by extrapolation (steps with differnt dt are compared): 1, 2, 3
SSC with embedded methods (differnt orders are compared): 1 to 4 [ 1= 1(2), ... 4= 4(5) ] maxOrder(maxOrder+1) - not available for implicit integration

◆ method

int MBSim::AutoTimeSteppingSSCIntegrator::method

protected

method for intrgration and step size control method=0 step size control by extrapolation (steps wit dt and dt/2 are compared) DEFAULT method=1 embedded method for step size control (maxOrder and maxOrder+1 are compared); proceed with maxOrder (recommended) method=2 embedded method for SSC with -local extrapolation- (integration is continued with maxOrder+1)

◆ numThreads

int MBSim::AutoTimeSteppingSSCIntegrator::numThreads

protected

Number of Threads

◆ outputInterpolation

bool MBSim::AutoTimeSteppingSSCIntegrator::outputInterpolation

protected

Flag interpolate z and la for plotting (default true)

◆ plotParallel

bool MBSim::AutoTimeSteppingSSCIntegrator::plotParallel

protected

Flag if Plotting should be done in Parallel

◆ rTol

fmatvec::Vec MBSim::AutoTimeSteppingSSCIntegrator::rTol

protected

Relative Tolerance

◆ safetyFactorGapControl

double MBSim::AutoTimeSteppingSSCIntegrator::safetyFactorGapControl

protected

Safety factor for GapControl (dtNew = dt_gapcontrol*safetyFactor; default min(1+RTol,1.001)

◆ safetyFactorSSC

double MBSim::AutoTimeSteppingSSCIntegrator::safetyFactorSSC

protected

safety factor for stepsize estimation: dt = dt_estimate * safetyFactorSSC (]0;1]; default 0.6)

◆ SetValuedForceLawsExplicit

bool MBSim::AutoTimeSteppingSSCIntegrator::SetValuedForceLawsExplicit

protected

Set-valued force laws with explicit or implicit discretization

◆ singleStepsT1

int MBSim::AutoTimeSteppingSSCIntegrator::singleStepsT1

protected

Single steps of different systems

◆ theta

double MBSim::AutoTimeSteppingSSCIntegrator::theta

protected

combination parameter between explicit (0) and implicit (1) Euler scheme

◆ time

double MBSim::AutoTimeSteppingSSCIntegrator::time

protected

computaional time

◆ Timer

MBSim::StopWatch MBSim::AutoTimeSteppingSSCIntegrator::Timer

protected

for internal use (start clock, integration info ...)

◆ upgedated_T1

bool MBSim::AutoTimeSteppingSSCIntegrator::upgedated_T1

protected

Flag if System has already been updated

◆ wrongAlertGapControl

int MBSim::AutoTimeSteppingSSCIntegrator::wrongAlertGapControl

protected

Variables for GapControl

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AutoTimeSteppingSSCIntegrator()

◆ ~AutoTimeSteppingSSCIntegrator()

Member Function Documentation

◆ doExpStep()

◆ doImpStep()

◆ doLinImpStep()

◆ getAllSetValuedla()

◆ getdhdqdhdu()

◆ initializeUsingXML()

◆ integrate()

◆ preIntegrate()

◆ setAbsoluteTolerance()

◆ setDriftCompensation()

◆ setFlagErrorTest()

◆ setFlagPlotIntegrator()

◆ setGapControl()

◆ setInexactJac()

◆ setInitialStepSize()

◆ setItMax()

◆ setItTol()

◆ setmaxGainSSC()

◆ setMaxOrder()

◆ setOutputInterpolation()

◆ setPlotParallel()

◆ setSafetyFactorSSC()

◆ setSetValuedForceLawsExplicit()

◆ setStepSizeMax()

◆ setStepSizeMin()

◆ setTheta()

◆ update()

Member Data Documentation

◆ aTol

◆ dhdq_n_T1

◆ dtRelGapControl

◆ expInt

◆ FlagErrorTest

◆ FlagErrorTestAlwaysValid

◆ FlagPlotEveryStep

◆ FlagPlotIntegrationSum

◆ FlagPlotIntegrator

◆ FlagSSC

◆ gAC_T1

◆ GapControlStrategy

◆ gapTol

◆ inexactJac

◆ integPlot

◆ integrationSteps

◆ it_T1

◆ iter

◆ iter_T1

◆ itMax

◆ itTol

◆ JacCounter

◆ JacUpdate_B1_T1

◆ JacUpdateT1

◆ maxGainSSC

◆ maxOrder

◆ method

◆ numThreads

◆ outputInterpolation

◆ plotParallel

◆ rTol

◆ safetyFactorGapControl

◆ safetyFactorSSC

◆ SetValuedForceLawsExplicit

◆ singleStepsT1

◆ theta

◆ time

◆ Timer

◆ upgedated_T1

◆ wrongAlertGapControl