#include <boost_odeint_integrator.h>

Inheritance diagram for MBSim::BoostOdeintDOS< DOS >:

Public Member Functions
void	integrate () override
	start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first. More...

void	preIntegrate () override

void	subIntegrate (double tSamplePoint) override

void	postIntegrate () override

void	setInitialStepSize (double dt0_)
	Set initial step size.

template<typename H = DOS, typename = EnableIfControlled<H>>
void	setAbsoluteTolerance (double aTol_)
	Set absolute tolerance.

template<typename H = DOS, typename = EnableIfControlled<H>>
void	setRelativeTolerance (double rTol_)
	Set relative tolerance.

template<typename H = DOS, typename = EnableIfControlled<H>>
void	setMaximumStepSize (double dtMax_)
	Set maximum step size.

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

Public Member Functions inherited from MBSim::RootFindingIntegrator
void	setRootFindingAccuracy (double dtRoot_)
	Define the root-finding accuracy.

void	setPlotOnRoot (bool b)
	Define wether to trigger a plot before and after each found root.

void	setToleranceForPositionConstraints (double gMax_)
	Set the maximum allowed position drift.

void	setToleranceForVelocityConstraints (double gdMax_)
	Set the maximum allowed velocity drift.

double	getToleranceForPositionConstraints ()
	Get the maximum allowed position drift.

double	getToleranceForVelocityConstraints ()
	Get the maximum allowed velocity drift.

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

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_)

void	setInitialState (const fmatvec::Vec &z0_)

double	getStartTime () const

double	getEndTime () const

double	getPlotStepSize () const

const fmatvec::Vec &	getInitialState () const override

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)

virtual const fmatvec::Vec &	getInitialState () const =0

void	setSystem (DynamicSystemSolver *s)

MBSim::DynamicSystemSolver *	getSystem ()

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Protected Types
template<typename H >
using	EnableIfControlled = typename std::enable_if< std::is_base_of< boost::numeric::odeint::controlled_stepper_tag, typename H::UnderlayingStepperCategory >::value >::type

Protected Member Functions
void	zd (const typename DOS::state_type &z, typename DOS::state_type &zd, const double t)

void	jac (const typename DOS::state_type &z, boost::numeric::ublas::matrix< double > &jac, const double t, typename DOS::state_type &ft)

Protected Member Functions inherited from MBSim::RootFindingIntegrator
bool	signChangedWRTsvLast (const fmatvec::Vec &svStepEnd) const

Protected Attributes
const std::function< void(const typename DOS::state_type &, typename DOS::state_type &, const double)>	zdFunc {bind(&BoostOdeintDOS<DOS>::zd, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)}

const std::function< void(const typename DOS::state_type &, boost::numeric::ublas::matrix< double > &c, const double, typename DOS::state_type &)>	jacFunc

const BoostOdeintHelper::BoostOdeintSystem< typename DOS::SystemCategory, decltype(zdFunc), decltype(jacFunc)>	boostOdeintSystem {zdFunc, jacFunc}

std::unique_ptr< DOS >	dos

double	dt0 {1e-10}

double	aTol {1e-6}

double	rTol {1e-6}

double	dtMax {0.1}

double	tPlot

size_t	plotSample

DOS::state_type	zTemp

fmatvec::Vec	zDisturbed

size_t	nrSteps

size_t	nrRHS

size_t	nrJacs

size_t	nrPlots

size_t	nrSVs

size_t	nrRoots

size_t	nrDriftCorr

Protected Attributes inherited from MBSim::RootFindingIntegrator
double	dtRoot {1e-10}

bool	plotOnRoot {false}

double	gMax {-1}

double	gdMax {-1}

fmatvec::Vec	svLast

bool	shift {false}

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

double	tEnd {1.}

double	dtPlot {1e-4}

fmatvec::Vec	z0
	initial state

std::string	name
	name of integrator

Protected Attributes inherited from MBSim::Solver
MBSim::DynamicSystemSolver *	system
	dynamic system

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

Static Protected Attributes
static constexpr bool	isControlled

Detailed Description

template<typename DOS>
class MBSim::BoostOdeintDOS< DOS >

Integrator based on any Boost odeint dense output stepper. DOS must conform to the following concept:

must be a valid boost odeint dense output stepper
SystemCategory must be a typedef of either ExplicitSystemTag or ImplicitSystemTag
UnderlayingStepperCategory must be a typedef of the underlaying stepper category
DOS(double aTol, double rTol, double dtMax) must be a valid constructor

Member Function Documentation

◆ initializeUsingXML()

template<typename DOS >

void MBSim::BoostOdeintDOS< DOS >::initializeUsingXML ( xercesc::DOMElement * element )

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::RootFindingIntegrator.

◆ integrate()

template<typename DOS >

void MBSim::BoostOdeintDOS< DOS >::integrate ( )

overridevirtual

start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first.

Implements MBSim::Integrator.

◆ postIntegrate()

template<typename DOS >

void MBSim::BoostOdeintDOS< DOS >::postIntegrate

overridevirtual

Reimplemented from MBSim::Integrator.

◆ preIntegrate()

template<typename DOS >

void MBSim::BoostOdeintDOS< DOS >::preIntegrate

overridevirtual

Reimplemented from MBSim::Integrator.

◆ subIntegrate()

template<typename DOS >

void MBSim::BoostOdeintDOS< DOS >::subIntegrate ( double tSamplePoint )

overridevirtual

Reimplemented from MBSim::Integrator.

Member Data Documentation

◆ isControlled

template<typename DOS >

constexpr bool MBSim::BoostOdeintDOS< DOS >::isControlled

staticconstexprprotected

Initial value:

{std::is_base_of<boost::numeric::odeint::controlled_stepper_tag,

typename DOS::UnderlayingStepperCategory>::value}

◆ jacFunc

template<typename DOS >

const std::function<void(const typename DOS::state_type&, boost::numeric::ublas::matrix<double>&c, const double, typename DOS::state_type&)> MBSim::BoostOdeintDOS< DOS >::jacFunc

protected

Initial value:

{bind(&BoostOdeintDOS<DOS>::jac, this, std::placeholders::_1, std::placeholders::_2,

std::placeholders::_3, std::placeholders::_4)}

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

/mbsim-env/mbsim/kernel/mbsim/integrators/boost_odeint_integrator.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Function Documentation

◆ initializeUsingXML()

◆ integrate()

◆ postIntegrate()

◆ preIntegrate()

◆ subIntegrate()

Member Data Documentation

◆ isControlled

◆ jacFunc