MBSim::DOPRI5Integrator Class Reference

ODE-Integrator DOPRI5. More...

#include <dopri5_integrator.h>

Inheritance diagram for MBSim::DOPRI5Integrator:

Public Member Functions
const fmatvec::Vec &	getAbsoluteTolerance () const
const fmatvec::Vec &	getRelativeTolerance () const
double	getInitialStepSize () const
int	getStepLimit () const
double	getMaximumStepSize () const
void	setAbsoluteTolerance (const fmatvec::Vec &aTol_)
void	setAbsoluteTolerance (double aTol_)
void	setRelativeTolerance (const fmatvec::Vec &rTol_)
void	setRelativeTolerance (double rTol_)
void	setInitialStepSize (double dt0_)
void	setStepLimit (int maxSteps_)
void	setMaximumStepSize (double dtMax_)
void	integrate () override
	start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first. More...
void	initializeUsingXML (xercesc::DOMElement *element) override
	initialize integrator 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()
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

Static Private Member Functions
static void	fzdot (int *n, double *t, double *z, double *zd, double *rpar, int *ipar)
static void	plot (int *nr, double *told, double *t, double *z, int *n, double *con, int *icomp, int *nd, double *rpar, int *ipar, int *irtrn)

Private Attributes
double	tPlot {0}
double	dtOut {0}
double	s0
double	time {0}
fmatvec::Vec	aTol
fmatvec::Vec	rTol
double	dt0 {0}
int	maxSteps {std::numeric_limits<int>::max()}
double	dtMax {0}
bool	drift { false }
std::exception_ptr	exception

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

ODE-Integrator DOPRI5.

Member Function Documentation

initializeUsingXML()

void MBSim::DOPRI5Integrator::initializeUsingXML ( xercesc::DOMElement *  element )

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::RootFindingIntegrator.

integrate() [1/2]

void MBSim::DOPRI5Integrator::integrate ( )

overridevirtual

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

Implements MBSim::Integrator.

integrate() [2/2]

virtual void MBSim::Integrator::integrate ( )

virtual

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

Implements MBSim::Integrator.

Member Data Documentation

aTol

fmatvec::Vec MBSim::DOPRI5Integrator::aTol

private

Absolute Toleranz

dt0

double MBSim::DOPRI5Integrator::dt0 {0}

private

step size for the first step

dtMax

double MBSim::DOPRI5Integrator::dtMax {0}

private

maximale step size

maxSteps

int MBSim::DOPRI5Integrator::maxSteps {std::numeric_limits<int>::max()}

private

maximum number of steps

rTol

fmatvec::Vec MBSim::DOPRI5Integrator::rTol

private

Relative Toleranz

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

• /mbsim-env/mbsim/kernel/mbsim/integrators/dopri5_integrator.h
• /mbsim-env/mbsim/kernel/mbsim/integrators/dopri5_integrator.cc