Base class for all DAE integrators. More...

#include <dae_integrator.h>

Inheritance diagram for MBSim::DAEIntegrator:

Public Types
enum	Formalism { ODE =0 , DAE1 , DAE2 , DAE3 , GGL , unknown }

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

void	setFormalism (Formalism formalism_)

void	setAbsoluteTolerance (const fmatvec::Vec &aTol_)

void	setAbsoluteTolerance (double aTol_)

void	setRelativeTolerance (const fmatvec::Vec &rTol_)

void	setRelativeTolerance (double rTol_)

void	setAbsolutePositionTolerance (double aTolPos_)

void	setAbsoluteVelocityTolerance (double aTolVel_)

void	setAbsoluteFirstOrderTolerance (double aTol1st_)

void	setAbsoluteForceTolerance (double aTolForce_)

void	setRelativePositionTolerance (double rTolPos_)

void	setRelativeVelocityTolerance (double rTolVel_)

void	setRelativeFirstOrderTolerance (double rTol1st_)

void	setRelativeForceTolerance (double rTolForce_)

Public Member Functions inherited from MBSim::ImplicitIntegrator
void	setReducedForm (bool reduced_)

void	setPartiallyAnalyticalJacobian (bool partiallyAnalyticalJacobian_)

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 Member Functions
void	par_ud_xd_gdd_par_q_u (fmatvec::Mat &J, const fmatvec::Vec &ud_=fmatvec::Vec())

void	par_zd_gdd_par_q_u (fmatvec::Mat &J, const fmatvec::Vec &ud_=fmatvec::Vec())

void	par_ud_xd_par_x (fmatvec::Mat &J)

void	par_ud_xd_gd_par_q (fmatvec::Mat &J)

void	par_zd_gd_par_q (fmatvec::Mat &J)

void	par_ud_xd_g_par_q (fmatvec::Mat &J)

void	par_zd_g_par_q (fmatvec::Mat &J)

void	par_ud_xd_gd_g_par_q (fmatvec::Mat &J)

void	par_zd_gd_g_par_q (fmatvec::Mat &J)

void	calcSize () override

void	init () override

virtual void	reinit ()

Protected Member Functions inherited from MBSim::ImplicitIntegrator
virtual double	delta (int i, double z) const

void	par_ud_xd_par_q (fmatvec::Mat &J)

void	par_zd_par_q (fmatvec::Mat &J)

void	par_ud_xd_par_u_x (fmatvec::Mat &J, bool updla)

void	par_zd_par_z (fmatvec::Mat &J, bool updla)

virtual void	calcSize ()

virtual void	init ()

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

Protected Attributes
Formalism	formalism {ODE}

fmatvec::Vec	aTol

std::optional< double >	aTolScalar

fmatvec::Vec	rTol

std::optional< double >	rTolScalar

std::optional< double >	aTolPos

std::optional< double >	aTolVel

std::optional< double >	aTol1st

std::optional< double >	aTolForce

std::optional< double >	rTolPos

std::optional< double >	rTolVel

std::optional< double >	rTol1st

std::optional< double >	rTolForce

int	laInd

int	lInd

fmatvec::Vec	gd0

fmatvec::Vec	g0

fmatvec::RangeV	Rla

fmatvec::RangeV	Rl

fmatvec::RangeV	RlaMove

fmatvec::RangeV	RlMove

Protected Attributes inherited from MBSim::ImplicitIntegrator
bool	reduced {false}

bool	partiallyAnalyticalJacobian {false}

int	neq

int	qMove

fmatvec::Vec	zd0

fmatvec::RangeV	Rq

fmatvec::RangeV	Ru

fmatvec::RangeV	Rx

fmatvec::RangeV	Rz

fmatvec::RangeV	RuMove

fmatvec::RangeV	RxMove

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.

Detailed Description

Base class for all DAE integrators.

Member Function Documentation

◆ calcSize()

void MBSim::DAEIntegrator::calcSize ( )

overrideprotectedvirtual

Reimplemented from MBSim::ImplicitIntegrator.

◆ init()

void MBSim::DAEIntegrator::init ( )

overrideprotectedvirtual

Reimplemented from MBSim::ImplicitIntegrator.

◆ initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::RootFindingIntegrator.

Reimplemented in MBSim::DASPKIntegrator, MBSim::LSODIIntegrator, MBSim::RADAU5Integrator, MBSim::RADAUIntegrator, MBSim::RODASIntegrator, and MBSim::SEULEXIntegrator.

Member Data Documentation

◆ aTol

fmatvec::Vec MBSim::DAEIntegrator::aTol

protected

Absolute Toleranz

◆ formalism

Formalism MBSim::DAEIntegrator::formalism {ODE}

protected

formalism

◆ rTol

fmatvec::Vec MBSim::DAEIntegrator::rTol

protected

Relative Toleranz

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ calcSize()

◆ init()

◆ initializeUsingXML()

Member Data Documentation

◆ aTol

◆ formalism

◆ rTol