solver interface for modelling and simulation of dynamic systems More...

#include <dynamic_system_solver.h>

Inheritance diagram for MBSim::DynamicSystemSolver:

Classes
class	Residuum

class	SignalHandler

Public Types
enum	Solver { fixedpoint , GaussSeidel , direct , rootfinding , unknownSolver , directNonlinear }
	solver for contact equations

Public Types inherited from MBSim::Element
enum	InitStage { resolveStringRef =0 , preInit , plotting , unknownStage , LASTINITSTAGE }
	The stages of the initialization. More...

Public Member Functions
	DynamicSystemSolver (const std::string &name="")
	constructor More...

	~DynamicSystemSolver () override
	destructor

void	initialize ()
	Initialize the system. More...

void	setTruncateSimulationFiles (bool trunc)

void	init (InitStage stage, const InitConfigSet &config) override
	plots time series header More...

int	solveConstraintsFixpointSingle () override
	solve contact equations with single step fixed point scheme More...

int	solveImpactsFixpointSingle () override
	solve impact equations with single step fixed point scheme on velocity level More...

int	solveConstraintsGaussSeidel () override
	solve contact equations with Gauss-Seidel scheme More...

int	solveImpactsGaussSeidel () override
	solve impact equations with Gauss-Seidel scheme on velocity level More...

int	solveConstraintsRootFinding () override
	solve contact equations with Newton scheme More...

int	solveImpactsRootFinding () override
	solve impact equations with Newton scheme on velocity level More...

void	checkConstraintsForTermination () override
	validate force laws concerning given tolerances More...

void	checkImpactsForTermination () override
	validate force laws concerning given tolerances on velocity level More...

void	updateT () override

void	updateh (int i=0) override

void	updateM () override

void	updateLLM () override

void	updatezd () override

void	updater (int j=0) override
	update smooth link force law More...

void	updateJrla (int j=0) override

virtual void	updaterdt ()

void	updatewb () override

void	updateg () override

void	updategd () override

void	updateW (int j=0) override

void	updateV (int j=0) override

virtual void	updatebc ()

virtual void	updatebi ()

virtual void	updatela ()

virtual void	updateLa ()

void	setSmoothSolver (Solver solver_)

void	setConstraintSolver (Solver solver_)

void	setImpactSolver (Solver solver_)

const Solver &	getSmoothSolver ()

const Solver &	getConstraintSolver ()

const Solver &	getImpactSolver ()

void	setTermination (bool term_)

void	setMaximumNumberOfIterations (int iter)

void	setHighNumberOfIterations (int iter)

void	setNumericalJacobian (bool numJac_)

void	setMaximumDampingSteps (int maxDSteps)

void	setLevenbergMarquardtParamater (double lmParm_)

void	setUseOldla (bool flag)

void	setDecreaseLevels (const fmatvec::VecInt &decreaseLevels_)

void	setCheckTermLevels (const fmatvec::VecInt &checkTermLevels_)

void	setCheckGSize (bool checkGSize_)

void	setLimitGSize (int limitGSize_)

double &	getTime ()

const double &	getTime () const

void	setTime (double t_)

double	getStepSize () const

void	setStepSize (double dt_)

int	getzSize () const

fmatvec::Vec &	getState ()

const fmatvec::Vec &	getState () const

void	setState (const fmatvec::Vec &z_)

const fmatvec::Vec &	getzd (bool check=true) const

void	setzd (const fmatvec::Vec &zd_)

const fmatvec::SqrMat &	getG (bool check=true) const

const fmatvec::SparseMat &	getGs (bool check=true) const

const fmatvec::Vec &	getbc (bool check=true) const

const fmatvec::Vec &	getbi (bool check=true) const

const fmatvec::SqrMat &	getJprox () const

fmatvec::SqrMat &	getG (bool check=true)

fmatvec::SparseMat &	getGs (bool check=true)

fmatvec::Vec &	getbc (bool check=true)

fmatvec::Vec &	getbi (bool check=true)

fmatvec::SqrMat &	getJprox ()

const fmatvec::Vec &	getr (int j=0, bool check=true) const

fmatvec::Vec &	getr (int j=0, bool check=true)

const fmatvec::Mat &	getJrla (int j=0, bool check=true) const

fmatvec::Mat &	getJrla (int j=0, bool check=true)

const fmatvec::Vec &	evaldq ()

const fmatvec::Vec &	evaldu ()

const fmatvec::Vec &	evaldx ()

const fmatvec::Vec &	evalzd ()

const fmatvec::SqrMat &	evalG ()

const fmatvec::SparseMat &	evalGs ()

const fmatvec::Vec &	evalbc ()

const fmatvec::Vec &	evalbi ()

const fmatvec::Vec &	evalsv ()

const fmatvec::Vec &	evalz0 ()

const fmatvec::Vec &	evalla ()

const fmatvec::Vec &	evalLa ()

fmatvec::Vec &	getzParent ()

fmatvec::Vec &	getzdParent ()

fmatvec::Vec &	getlaParent ()

fmatvec::Vec &	getLaParent ()

fmatvec::Mat &	getWParent (int i=0)

fmatvec::Mat &	getVParent (int i=0)

fmatvec::Vec &	getgParent ()

fmatvec::Vec &	getgdParent ()

fmatvec::Vec &	getresParent ()

fmatvec::Vec &	getrFactorParent ()

void	resizezParent (int nz)

void	resizezdParent (int nz)

DynamicSystemSolver *	getDynamicSystemSolver ()

int	getMaxIter ()

int	getHighIter ()

int	getIterC ()

int	getIterI ()

void	computeInitialCondition ()
	compute initial condition for links for event driven integrator

int	solveConstraintsLinearEquations ()
	solution of contact equations with direct linear solver using minimum of least squares More...

int	solveConstraintsNonlinearEquations ()
	solution of contact equations with direct nonlinear newton solver using minimum of least squares in each iteration step More...

int	solveImpactsLinearEquations ()
	solution of contact equations with Cholesky decomposition on velocity level More...

int	solveImpactsNonlinearEquations ()

virtual void	updateG ()
	updates mass action matrix More...

void	decreaserFactors ()
	decrease relaxation factors if mass action matrix is not diagonal dominant

virtual const fmatvec::Vec &	shift (std::optional< std::reference_wrapper< bool > > &&velProjWasCalled={}, std::optional< std::reference_wrapper< bool > > &&posProjWasCalled={})
	update for event driven integrator for event More...

void	getLinkStatus (fmatvec::VecInt &LinkStatusExt)

void	getLinkStatusReg (fmatvec::VecInt &LinkStatusRegExt)

bool	positionDriftCompensationNeeded (double gmax)
	check if drift compensation on position level is needed

bool	velocityDriftCompensationNeeded (double gdmax)
	check if drift compensation on velocity level is needed

void	projectGeneralizedPositions (int mode, bool fullUpdate=false)
	drift projection for positions

void	projectGeneralizedVelocities (int mode)
	drift projection for positions

void	savela ()
	save contact forces for use as starting value in next time step More...

void	initla ()
	load contact forces for use as starting value More...

void	saveLa ()
	save contact impulses for use as starting value in next time step More...

void	initLa ()
	load contact impulses for use as starting value More...

void	addElement (Element *element_)

Element *	getElement (const std::string &name)

std::string	getSolverInfo ()

void	setStopIfNoConvergence (bool flag, bool dropInfo=false)

bool	getStopIfNoConvergence ()

void	dropContactMatrices ()

void	throwIfExitRequested ()

bool	exitRequested ()

void	setPartialEventDrivenSolver (bool peds_)

void	writez (std::string fileName, bool formatH5=true)
	writes state to a file More...

void	writeStateTable (std::string fileName)
	writes state table to a file More...

void	readz0 (std::string fileName)
	reads state from a file More...

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setProjectionTolerance (double tol)
	set tolerance for projection of generalized position More...

void	setLocalSolverTolerance (double tol)
	set tolerance for local none-linear solver (solvers on element level), like the Newton-Solver in JointConstraint More...

double	getLocalSolverTolerance ()

void	setDynamicSystemSolverTolerance (double tol)
	set tolerance for global none-linear solver (solvers on DynamicSystemSolver level), like the Newton-Solver in directNonlinear More...

double	getDynamicSystemSolverTolerance ()

void	updatezRef (fmatvec::Vec &ext)
	references to external state More...

void	updatezdRef (fmatvec::Vec &ext)
	references to differentiated external state More...

void	setAlwaysConsiderContact (bool alwaysConsiderContact_)

void	setInverseKinetics (bool inverseKinetics_)

bool	getInverseKinetics () const

void	setInitialProjection (bool initialProjection_)

bool	getInitialProjection () const

void	setDetermineEquilibriumState (bool determineEquilibriumState_)

bool	getDetermineEquilibriumState () const

void	setUseConstraintSolverForPlot (bool useConstraintSolverForPlot_)

bool	getUseConstraintSolverForPlot () const

fmatvec::Mat	dhdq (int lb=0, int ub=0)

fmatvec::Mat	dhdu (int lb=0, int ub=0)

fmatvec::Mat	dhdx ()

fmatvec::Vec	dhdt ()

void	setRootID (int ID)

int	getRootID () const

void	resetUpToDate () override

bool	getUpdateT ()

bool	getUpdateM ()

bool	getUpdateLLM ()

bool	getUpdateh (int j)

bool	getUpdater (int j)

bool	getUpdateJrla (int j)

bool	getUpdaterdt ()

bool	getUpdateW (int j)

bool	getUpdateV (int j)

bool	getUpdatewb ()

bool	getUpdateg ()

bool	getUpdategd ()

bool	getUpdatela ()

bool	getUpdateLa ()

bool	getUpdatezd ()

bool	getUpdatedq ()

bool	getUpdatedu ()

bool	getUpdatedx ()

void	setUpdatela (bool updla_)

void	setUpdateLa (bool updLa_)

void	setUpdateG (bool updG_)

void	setUpdatebi (bool updbi_)

void	setUpdatebc (bool updbc_)

void	setUpdatezd (bool updzd_)

void	setUpdateW (bool updW_, int i=0)

void	updategRef (fmatvec::Vec &ref) override
	references to relative distances of dynamic system parent More...

void	updategdRef (fmatvec::Vec &ref) override
	references to relative velocities of dynamic system parent More...

void	updatewbRef (fmatvec::Vec &ref) override
	references to TODO of dynamic system parent More...

void	updateWRef (fmatvec::Mat &ref, int i=0) override
	references to contact force direction matrix of dynamic system parent More...

void	updateVRef (fmatvec::Mat &ref, int i=0) override
	references to condensed contact force direction matrix of dynamic system parent More...

virtual void	updatelaInverseKinetics ()
	update inverse kinetics constraint forces

void	updatedq () override

void	updatedu () override

void	updatedx () override

void	updateStopVector () override

void	updateInternalState ()

void	plot () override
	plots time dependent data More...

void	addEnvironment (Environment *env)

template<class Env >
Env *	getEnvironment ()

MBSimEnvironment *	getMBSimEnvironment ()

std::vector< StateTable > &	getStateTable ()

void	setCompressionLevel (int level)

void	setChunkSize (int size)

void	setCacheSize (int size)

void	setqdequ (bool qdequ_)

bool	getqdequ ()

Public Member Functions inherited from MBSim::Group
	Group (const std::string &name="")
	constructor More...

	~Group () override=default
	destructor

void	initializeUsingXML (xercesc::DOMElement *element) override

void	addObject (Object *obj)

Public Member Functions inherited from MBSim::DynamicSystem
	DynamicSystem (const std::string &name)
	constructor

	~DynamicSystem () override
	destructor

virtual void	updateT ()

virtual void	updateh (int k=0)

virtual void	updateM ()

virtual void	updateLLM ()

virtual void	updatedq ()

virtual void	updatedu ()

virtual void	updatedx ()

virtual void	updateqd ()

virtual void	updateud ()

virtual void	updatexd ()

virtual void	updatezd ()

virtual void	updatewb ()

virtual void	updateW (int j=0)

virtual void	updateV (int j=0)

virtual void	updater (int j=0)

virtual void	updateJrla (int j=0)

virtual void	updateg ()

virtual void	updategd ()

virtual void	updateStopVector ()

virtual void	updateStopVectorParameters ()

virtual void	updateLinkStatus ()

virtual void	updateLinkStatusReg ()

virtual void	updateWInverseKinetics ()

virtual void	updatebInverseKinetics ()

virtual void	sethSize (int hSize_, int j=0)

virtual int	gethSize (int i=0) const

virtual int	getqSize () const

virtual int	getuSize (int i=0) const

virtual void	calcqSize ()

virtual void	calcuSize (int j=0)

virtual int	getuInd (int i=0)

virtual void	setqInd (int qInd_)

virtual void	setuInd (int uInd_, int j=0)

virtual void	sethInd (int hInd_, int j=0)

virtual void	setxInd (int xInd_)

virtual const fmatvec::Vec &	getq () const

virtual fmatvec::Vec &	getq ()

virtual const fmatvec::Vec &	getu () const

virtual fmatvec::Vec &	getu ()

void	setq (const fmatvec::Vec &q_)

void	setu (const fmatvec::Vec &u_)

void	setx (const fmatvec::Vec &x_)

void	setjsv (const fmatvec::VecInt &jsv_)

void	setInternalState (const fmatvec::Vec &internalState)

virtual H5::GroupBase *	getPlotGroup ()

std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getGroupsOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getObjectsOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getConstraintsOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getObserversOpenMBVGrp () override

virtual void	calcxSize ()

const fmatvec::Vec &	getx () const

fmatvec::Vec &	getx ()

int	getxSize () const

void	updatexRef (fmatvec::Vec &xParent)

void	updatexdRef (fmatvec::Vec &xdParent)

void	updatedxRef (fmatvec::Vec &dxParent)

void	init (InitStage stage, const InitConfigSet &config) override
	plots time series header More...

virtual void	initz ()

virtual void	writez (H5::GroupBase *parent)

virtual void	readz0 (H5::GroupBase *parent)

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override

void	plot () override
	plots time dependent data More...

void	plotAtSpecialEvent () override
	plots time dependent data at special events More...

virtual int	solveConstraintsFixpointSingle ()
	solve contact equations with single step fixed point scheme More...

virtual int	solveImpactsFixpointSingle ()
	solve impact equations with single step fixed point scheme on velocity level More...

virtual int	solveConstraintsGaussSeidel ()
	solve contact equations with Gauss-Seidel scheme More...

virtual int	solveImpactsGaussSeidel ()
	solve impact equations with Gauss-Seidel scheme on velocity level More...

virtual int	solveConstraintsRootFinding ()
	solve contact equations with Newton scheme More...

virtual int	solveImpactsRootFinding ()
	solve impact equations with Newton scheme on velocity level More...

virtual int	jacobianConstraints ()
	compute JACOBIAN of contact equations

virtual int	jacobianImpacts ()
	compute JACOBIAN of contact equations on velocity level

virtual void	checkConstraintsForTermination ()
	validate force laws concerning given tolerances More...

virtual void	checkImpactsForTermination ()
	validate force laws concerning given tolerances on velocity level More...

virtual void	updaterFactors ()
	update relaxation factors for contact equations

virtual Frame *	getFrame (const std::string &name, bool check=true) const

virtual Contour *	getContour (const std::string &name, bool check=true) const

void	setFrameOfReference (Frame *frame)

const Frame *	getFrameOfReference () const

const fmatvec::Mat &	getT (bool check=true) const

const fmatvec::Vec &	geth (int i=0, bool check=true) const

const fmatvec::SymMat &	getM (bool check=true) const

const fmatvec::SymMat &	getLLM (bool check=true) const

const fmatvec::Vec &	getdq (bool check=true) const

const fmatvec::Vec &	getdu (bool check=true) const

const fmatvec::Vec &	getdx (bool check=true) const

const fmatvec::Vec &	getqd (bool check=true) const

const fmatvec::Vec &	getud (bool check=true) const

const fmatvec::Vec &	getxd (bool check=true) const

const fmatvec::Mat &	getW (int i=0, bool check=true) const

const fmatvec::Mat &	getV (int i=0, bool check=true) const

const fmatvec::Vec &	getwb (bool check=true) const

const fmatvec::Vec &	getla (bool check=true) const

const fmatvec::Vec &	getLa (bool check=true) const

const fmatvec::Vec &	getg (bool check=true) const

const fmatvec::Vec &	getgd (bool check=true) const

fmatvec::Vec &	getla (bool check=true)

fmatvec::Vec &	getLa (bool check=true)

void	setla (const fmatvec::Vec &la_)

void	setLa (const fmatvec::Vec &La_)

fmatvec::VecInt &	getjsv ()

const fmatvec::VecInt &	getjsv () const

fmatvec::Mat &	getW (int i=0, bool check=true)

fmatvec::SymMat &	getLLM (bool check=true)

fmatvec::Vec &	getdq (bool check=true)

fmatvec::Vec &	getdu (bool check=true)

fmatvec::Vec &	getdx (bool check=true)

fmatvec::VecInt &	getLinkStatus ()

fmatvec::VecInt &	getLinkStatusReg ()

const fmatvec::VecInt &	getLinkStatus () const

const fmatvec::VecInt &	getLinkStatusReg () const

const fmatvec::Mat &	evalT ()

const fmatvec::Vec &	evalh (int i=0)

const fmatvec::SymMat &	evalM ()

const fmatvec::SymMat &	evalLLM ()

const fmatvec::Mat &	evalW (int i=0)

const fmatvec::Mat &	evalV (int i=0)

const fmatvec::Vec &	evalwb ()

const fmatvec::Vec &	evalr (int i=0)

const fmatvec::Mat &	evalJrla (int i=0)

const fmatvec::Vec &	evalrdt ()

const fmatvec::Vec &	evalg ()

const fmatvec::Vec &	evalgd ()

const fmatvec::Mat &	evalWInverseKinetics ()

const fmatvec::Mat &	evalbInverseKinetics ()

void	setqd (const fmatvec::Vec &qd_)

void	setud (const fmatvec::Vec &ud_)

void	setxd (const fmatvec::Vec &xd_)

int	getxInd ()

int	getlaInd () const

int	gethInd (int i=0)

void	setlaInd (int ind)

void	setisInd (int ind)

void	setgInd (int ind)

void	setgdInd (int ind)

void	setrFactorInd (int ind)

virtual void	setsvInd (int svInd_)

void	setLinkStatusInd (int LinkStatusInd_)

void	setLinkStatusRegInd (int LinkStatusRegInd_)

void	setqSize (int qSize_)

void	setuSize (int uSize_, int i=0)

void	setxSize (int xSize_)

int	getisSize () const

int	getlaSize () const

int	getgSize () const

int	getgdSize () const

int	getrFactorSize () const

int	getsvSize () const

int	getLinkStatusSize () const

int	getLinkStatusRegSize () const

const std::vector< Object * > &	getObjects () const

const std::vector< Link * > &	getLinks () const

const std::vector< DynamicSystem * > &	getDynamicSystems () const

const std::vector< Frame * > &	getFrames () const

const std::vector< Contour * > &	getContours () const

const std::vector< Link * > &	getSetValuedLinks () const

void	updateqRef (fmatvec::Vec &qParent)
	references to positions of dynamic system parent More...

void	updateqdRef (fmatvec::Vec &qdParent)
	references to differentiated positions of dynamic system parent More...

void	updatedqRef (fmatvec::Vec &dqParent)

void	updateuRef (fmatvec::Vec &uParent)
	references to velocities of dynamic system parent More...

void	updateuallRef (fmatvec::Vec &uParent)
	references to velocities of dynamic system parent More...

void	updateudRef (fmatvec::Vec &udParent)
	references to differentiated velocities of dynamic system parent More...

void	updateduRef (fmatvec::Vec &duParent)

void	updateudallRef (fmatvec::Vec &udParent)
	references to velocities of dynamic system parent More...

void	updatehRef (fmatvec::Vec &hParent, int j=0)
	references to smooth right hand side of dynamic system parent More...

void	updaterRef (fmatvec::Vec &rParent, int j=0)
	references to nonsmooth right hand side of dynamic system parent More...

void	updateJrlaRef (fmatvec::Mat &rParent, int j=0)

void	updaterdtRef (fmatvec::Vec &rdtParent)
	references to nonsmooth right hand side of dynamic system parent More...

void	updateTRef (fmatvec::Mat &TParent)
	references to linear transformation matrix between differentiated positions and velocities of dynamic system parent More...

void	updateMRef (fmatvec::SymMat &MParent)
	references to mass matrix of dynamic system parent More...

void	updateLLMRef (fmatvec::SymMat &LLMParent)
	references to Cholesky decomposition of dynamic system parent More...

virtual void	updateInternalStateRef (fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent)
	references to internal state of dynamic system parent

virtual void	updategRef (fmatvec::Vec &gParent)
	references to relative distances of dynamic system parent More...

virtual void	updategdRef (fmatvec::Vec &gdParent)
	references to relative velocities of dynamic system parent More...

void	updatelaRef (fmatvec::Vec &laParent)
	references to contact forces of dynamic system parent More...

void	updateLaRef (fmatvec::Vec &LaParent)
	references to contact impulses of dynamic system parent More...

void	updatelaInverseKineticsRef (fmatvec::Vec &laParent)

void	updatebInverseKineticsRef (fmatvec::Mat &bParent)

virtual void	updatewbRef (fmatvec::Vec &wbParent)
	references to TODO of dynamic system parent More...

virtual void	updateWRef (fmatvec::Mat &WParent, int j=0)
	references to contact force direction matrix of dynamic system parent More...

void	updateWInverseKineticsRef (fmatvec::Mat &WParent)
	references to contact force direction matrix of dynamic system parent More...

virtual void	updateVRef (fmatvec::Mat &VParent, int j=0)
	references to condensed contact force direction matrix of dynamic system parent More...

void	updatesvRef (fmatvec::Vec &svParent)
	references to stopvector (rootfunction for event driven integrator) of dynamic system parent More...

void	updatejsvRef (fmatvec::VecInt &jsvParent)
	references to boolean evaluation of stopvector concerning roots of dynamic system parent More...

void	updateLinkStatusRef (fmatvec::VecInt &LinkStatusParent)
	references to status vector of set valued links with piecewise link equations (which piece is valid) More...

void	updateLinkStatusRegRef (fmatvec::VecInt &LinkStatusRegParent)
	references to status vector of single valued links More...

void	updateresRef (fmatvec::Vec &resParent)
	references to residuum of contact equations of dynamic system parent More...

void	updaterFactorRef (fmatvec::Vec &rFactorParent)
	references to relaxation factors for contact equations of dynamic system parent More...

void	clearElementLists ()

void	buildListOfDynamicSystems (std::vector< DynamicSystem * > &sys)
	build flat list of dynamic systems More...

void	buildListOfObjects (std::vector< Object * > &obj)
	build flat list of objects More...

void	buildListOfLinks (std::vector< Link * > &lnk)
	build flat list of links More...

void	buildListOfConstraints (std::vector< Constraint * > &crt)
	build flat list of all constraints More...

void	buildListOfFrames (std::vector< Frame * > &frm)
	build flat list of frames More...

void	buildListOfContours (std::vector< Contour * > &cnt)
	build flat list of contours More...

void	buildListOfModels (std::vector< ModellingInterface * > &modelList)
	build flat list of models More...

void	buildListOfInverseKineticsLinks (std::vector< Link * > &iklnk)
	build flat list of inverse kinetics links More...

void	buildListOfObservers (std::vector< Observer * > &obsrv)
	build flat list of observers More...

void	setUpInverseKinetics ()
	analyse constraints of dynamic systems for usage in inverse kinetics

void	setUpLinks ()
	distribute links to set- and single valued container

bool	gActiveChanged ()

bool	gActiveChangedReg ()

bool	detectImpact ()

void	calcsvSize ()
	calculates size of stop vector

void	calclaSize (int j)
	calculates size of contact force parameters

void	calcLinkStatusSize ()
	calculates size of set-valued link status vector

void	calcLinkStatusRegSize ()
	calculates size of single-valued link status vector

void	calclaInverseKineticsSize ()
	calculates size of contact force parameters

void	calcbInverseKineticsSize ()
	calculates size of contact force parameters

void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

void	calcgSize (int j)
	calculates size of relative distances

void	calcgdSize (int j)
	calculates size of gap velocities More...

void	calcrFactorSize (int j)
	calculates size of relaxation factors for contact equations

void	setUpObjectsWithNonConstantMassMatrix ()
	rearrange vector of active setvalued links

void	setUpActiveLinks ()
	rearrange vector of active setvalued links

void	checkActive (int j)
	check if set-valued contacts are active and set corresponding attributes More...

virtual void	setGeneralizedRelativePositionTolerance (double tol)

virtual void	setGeneralizedRelativeVelocityTolerance (double tol)

virtual void	setGeneralizedRelativeAccelerationTolerance (double tol)

virtual void	setGeneralizedForceTolerance (double tol)

virtual void	setGeneralizedImpulseTolerance (double tol)

virtual void	setGeneralizedRelativePositionCorrectionValue (double corr)

virtual void	setGeneralizedRelativeVelocityCorrectionValue (double corr)

void	setrMax (double rMax)

int	frameIndex (const Frame *frame_) const

void	addFrame (FixedRelativeFrame *frame)

void	addContour (RigidContour *contour)

void	addGroup (DynamicSystem *sys)

DynamicSystem *	getGroup (const std::string &name, bool check=true) const

void	addObject (Object *obj)

Object *	getObject (const std::string &name, bool check=true) const

void	addLink (Link *lnk)

void	addConstraint (Constraint *crt)

void	addInverseKineticsLink (Link *lnk)

Observer *	getObserver (const std::string &name, bool check=true) const

void	addObserver (Observer *ele)

Link *	getLink (const std::string &name, bool check=true) const

Constraint *	getConstraint (const std::string &name, bool check=true) const

void	addModel (ModellingInterface *model_)

ModellingInterface *	getModel (const std::string &name, bool check=true) const

Frame *	getFrameI ()

Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const override
	Get the Element named name in the container named container. More...

virtual void	updatecorr (int j)

void	updatecorrRef (fmatvec::Vec &ref)

void	calccorrSize (int j)

void	checkRoot ()

void	resetUpToDate () override

void	updateStateTable ()

H5::GroupBase *	getFramesPlotGroup () override

H5::GroupBase *	getContoursPlotGroup () override

H5::GroupBase *	getGroupsPlotGroup () override

H5::GroupBase *	getObjectsPlotGroup () override

H5::GroupBase *	getLinksPlotGroup () override

H5::GroupBase *	getConstraintsPlotGroup () override

H5::GroupBase *	getObserversPlotGroup () override

Public Member Functions inherited from MBSim::Element
	Element (const std::string &name)
	constructor

	~Element () override=default
	destructor

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

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)
	sets the used dynamics system solver to the element More...

virtual void	plot ()
	plots time dependent data More...

virtual void	plotAtSpecialEvent ()
	plots time dependent data at special events More...

const std::string &	getName () const

void	setName (const std::string &str)

void	setPath (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())
	plots time series header More...

virtual void	createPlotGroup ()
	creates the plotGroup for H5-output More...

H5::GroupBase *	getPlotGroup ()

virtual H5::GroupBase *	getFramesPlotGroup ()

virtual H5::GroupBase *	getContoursPlotGroup ()

virtual H5::GroupBase *	getGroupsPlotGroup ()

virtual H5::GroupBase *	getObjectsPlotGroup ()

virtual H5::GroupBase *	getLinksPlotGroup ()

virtual H5::GroupBase *	getConstraintsPlotGroup ()

virtual H5::GroupBase *	getObserversPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)
	Set a plot feature. More...

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for the children of this object. More...

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for this object and the children of this object. More...

template<class T >
void	setPlotAttribute (const std::string &name, const T &value)
	Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.

void	setPlotAttribute (const std::string &name)

virtual void	initializeUsingXML (xercesc::DOMElement *element)

template<class T >
T *	getByPath (const std::string &path, bool initialCaller=true) const
	Get the object of type T represented by the path path. Do not set any argurment other than path!

std::string	getPath (const Element *relTo=nullptr, std::string sep="/") const
	Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const
	Get the Element named name in the container named container. More...

virtual std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getGroupsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObjectsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getConstraintsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObserversOpenMBVGrp ()

virtual Element *	getParent ()

virtual const Element *	getParent () const

virtual void	setParent (Element *parent_)

std::vector< Element * >	getDependencies () const
	checks dependency on other elements. More...

void	addDependency (Element *ele)

int	computeLevel ()
	computes the length of the pathes in the graph that represents the dependencies between all elements. More...

virtual void	updatePositions (Frame *frame)

virtual void	updateVelocities (Frame *frame)

virtual void	updateAccelerations (Frame *frame)

virtual void	updateJacobians (Frame *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame *frame)

virtual void	resetUpToDate ()

const double &	getTime () const

double	getStepSize () const

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

void	addToPlot (const std::string &name)

void	addToPlot (const std::string &name, int size)

void	addToPlot (const std::string &name, const std::vector< std::string > &iname)

template<class AT >
void	plot (const AT &x)

template<class Type , class AT >
void	plot (const fmatvec::Vector< Type, AT > &x)

Public Attributes
int(DynamicSystemSolver::*	solveSmooth_ )()

int(DynamicSystemSolver::*	solveConstraints_ )()

int(DynamicSystemSolver::*	solveImpacts_ )()
	function pointer for election of prox-solver for impact equations on velocity level More...

Protected Attributes
double	t
	time

double	dt
	step size

int	zSize
	size of state vector

fmatvec::Vec	z
	state vector

fmatvec::Vec	zd
	derivative of state vector

fmatvec::SymMat	MParent
	mass matrix

fmatvec::SymMat	LLMParent
	Cholesky decomposition of mass matrix.

fmatvec::Mat	TParent
	matrix of linear relation between differentiated positions and velocities

fmatvec::Mat	WParent [2]
	contact force directions

fmatvec::Mat	VParent [2]
	condensed contact force directions

fmatvec::Vec	wbParent
	TODO.

fmatvec::Vec	laParent
	contact force parameters

fmatvec::Vec	LaParent

fmatvec::Vec	rFactorParent
	relaxation parameters for contact equations

fmatvec::Vec	sParent
	TODO.

fmatvec::Vec	resParent
	residuum of contact equations

fmatvec::Vec	curisParent

fmatvec::Vec	nextisParent

fmatvec::Vec	gParent
	relative distances

fmatvec::Vec	gdParent
	relative velocities

fmatvec::Vec	zParent
	state

fmatvec::Vec	zdParent
	differentiated state

fmatvec::Vec	dxParent

fmatvec::Vec	dqParent

fmatvec::Vec	duParent

fmatvec::Vec	hParent [2]
	smooth, smooth with respect to objects, smooth with respect to links right hand side

fmatvec::Vec	rParent [2]
	nonsmooth right hand side

fmatvec::Vec	rdtParent

fmatvec::Mat	JrlaParent [2]

fmatvec::Vec	svParent
	stopvector (rootfunctions for event driven integration

fmatvec::VecInt	jsvParent
	boolean evaluation of stopvector

fmatvec::VecInt	LinkStatusParent
	status vector of set valued links with piecewise link equation (which piece is valid)

fmatvec::VecInt	LinkStatusRegParent
	status vector of single valued links

fmatvec::SparseMat	Gs
	sparse mass action matrix

fmatvec::SqrMat	Jprox
	JACOBIAN of contact equations for Newton scheme.

fmatvec::SqrMat	G
	mass action matrix

fmatvec::Vec	bc
	TODO.

fmatvec::Vec	bi

bool	term
	boolean to check for termination of contact equations solution

int	maxIter
	maximum number of contact iterations, high number of contact iterations for warnings, maximum number of damping steps for Newton scheme

int	highIter

int	maxDampingSteps

int	iterc

int	iteri

double	lmParm
	Levenberg-Marquard parameter.

Solver	smoothSolver
	solver for contact equations and impact equations

Solver	contactSolver

Solver	impactSolver

bool	stopIfNoConvergence
	flag if the contact equations should be stopped if there is no convergence

bool	dropContactInfo
	flag if contact matrices for debugging should be dropped in no-convergence case

bool	useOldla
	flag if contac force parameter of last time step should be used

bool	numJac
	flag if Jacobian for Newton scheme should be calculated numerically

fmatvec::VecInt	decreaseLevels
	decreasing relaxation factors is done in levels containing the number of contact iterations as condition

fmatvec::VecInt	checkTermLevels
	TODO.

bool	checkGSize
	boolean if force action matrix should be resized in each step

int	limitGSize
	TODO.

bool	peds
	TODO, flag for occuring impact and sticking in event driven solver.

double	tolProj
	Tolerance for projection of generalized position.

double	tolLocalSolver { 1e-10 }
	Tolerance for local none-linear solvers (solvers on element level)

double	tolDSS { 1e-9 }
	Tolerance for global none-linear solvers (solvers on DynamicSystemSolver level)

fmatvec::Vec	laInverseKineticsParent

fmatvec::Mat	bInverseKineticsParent

fmatvec::Mat	WInverseKineticsParent

bool	alwaysConsiderContact

bool	inverseKinetics

bool	initialProjection

bool	determineEquilibriumState

bool	useConstraintSolverForPlot

fmatvec::Vec	corrParent

int	rootID

double	gTol

double	gdTol

double	gddTol

double	laTol

double	LaTol

bool	updT

bool	updh [2]

bool	updr [2]

bool	updJrla [2]

bool	updrdt

bool	updM

bool	updLLM

bool	updW [2]

bool	updV [2]

bool	updwb

bool	updg

bool	updgd

bool	updG

bool	updbc

bool	updbi

bool	updsv

bool	updzd

bool	updla

bool	updLa

bool	upddq

bool	upddu

bool	upddx

bool	useSmoothSolver

bool	qdequ

std::vector< StateTable >	tabz

int	compressionLevel { H5::File::getDefaultCompression() }

int	chunkSize { H5::File::getDefaultChunkSize() }

int	cacheSize { H5::File::getDefaultCacheSize() }

Protected Attributes inherited from MBSim::Group
fmatvec::Vec	RrRD

fmatvec::SqrMat	ARD

Protected Attributes inherited from MBSim::DynamicSystem
Frame *	R
	parent frame

std::vector< Object * >	object
	container for possible ingredients

std::vector< Object * >	objectWithNonConstantMassMatrix

std::vector< Link * >	link

std::vector< Link * >	linkSingleValued

std::vector< Link * >	linkSetValued

std::vector< Link * >	linkSetValuedActive

std::vector< Link * >	linkWithStopVector

std::vector< ModellingInterface * >	model

std::vector< DynamicSystem * >	dynamicsystem

std::vector< Link * >	inverseKineticsLink

std::vector< Observer * >	observer

std::vector< Constraint * >	constraint

fmatvec::Mat	T
	linear relation matrix of position and velocity parameters

fmatvec::SymMat	M
	mass matrix

fmatvec::SymMat	LLM
	Cholesky decomposition of mass matrix.

fmatvec::Vec	q
	positions, differentiated positions, initial positions

fmatvec::Vec	qd

fmatvec::Vec	dq

fmatvec::Vec	u
	velocities, differentiated velocities, initial velocities

fmatvec::Vec	ud

fmatvec::Vec	du

fmatvec::Vec	x
	order one parameters, differentiated order one parameters, initial order one parameters

fmatvec::Vec	xd

fmatvec::Vec	dx

fmatvec::Vec	h [2]
	smooth, smooth with respect to objects, smooth with respect to links and nonsmooth

fmatvec::Vec	r [2]

fmatvec::Vec	rdt

fmatvec::Mat	Jrla [2]
	Jacobian dr/dla.

fmatvec::Mat	W [2]

fmatvec::Mat	V [2]

fmatvec::Vec	la
	contact force parameters

fmatvec::Vec	La

fmatvec::Vec	curis

fmatvec::Vec	nextis

fmatvec::Vec	g
	relative distances and velocities

fmatvec::Vec	gd

fmatvec::Vec	wb
	TODO.

fmatvec::Vec	res
	residuum of nonlinear contact equations for Newton scheme

fmatvec::Vec	rFactor
	rfactors for relaxation nonlinear contact equations

fmatvec::Vec	sv
	stop vector (root functions for event driven integration

fmatvec::VecInt	jsv
	boolean evaluation of stop vector concerning roots

fmatvec::VecInt	LinkStatus
	status of set-valued links

fmatvec::VecInt	LinkStatusReg
	status of single-valued links

int	qSize
	size and local start index of positions relative to parent

int	qInd

int	uSize [2]
	size and local start index of velocities relative to parent

int	uInd [2]

int	xSize
	size and local start index of order one parameters relative to parent

int	xInd

int	hSize [2]
	size and local start index of order smooth right hand side relative to parent

int	hInd [2]

int	isSize

int	isInd

int	gSize
	size and local start index of relative distances relative to parent

int	gInd

int	gdSize
	size and local start index of relative velocities relative to parent

int	gdInd

int	laSize
	size and local start index of contact force parameters relative to parent

int	laInd

int	rFactorSize
	size and local start index of rfactors relative to parent

int	rFactorInd

int	svSize
	size and local start index of stop vector relative to parent

int	svInd

int	LinkStatusSize
	size and local start index of set-valued link status vector relative to parent

int	LinkStatusInd

int	LinkStatusRegSize
	size and local start index of single-valued link status vector relative to parent

int	LinkStatusRegInd

std::vector< Frame * >	frame
	vector of frames and contours

std::vector< Contour * >	contour

std::shared_ptr< OpenMBV::Group >	openMBVGrp

std::shared_ptr< OpenMBV::Group >	framesOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	contoursOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	groupsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	objectsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	linksOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	constraintsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	observersOpenMBVGrp

std::shared_ptr< H5::File >	hdf5File

Frame *	I

int	laInverseKineticsSize
	size of contact force parameters of special links relative to parent

int	bInverseKineticsSize

fmatvec::Mat	WInverseKinetics

fmatvec::Mat	bInverseKinetics

fmatvec::Vec	laInverseKinetics

int	corrSize

int	corrInd

fmatvec::Vec	corr

std::string	saved_frameOfReference

H5::GroupBase *	framesPlotGroup

H5::GroupBase *	contoursPlotGroup

H5::GroupBase *	groupsPlotGroup

H5::GroupBase *	objectsPlotGroup

H5::GroupBase *	linksPlotGroup

H5::GroupBase *	constraintsPlotGroup

H5::GroupBase *	observersPlotGroup

Protected Attributes inherited from MBSim::Element
Element *	parent { nullptr }

std::string	name
	name of element

std::string	path
	The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

DynamicSystemSolver *	ds { nullptr }
	dynamic system

H5::VectorSerie< double > *	plotVectorSerie { nullptr }
	time series

std::vector< double >	plotVector
	one entry of time series

std::vector< std::string >	plotColumns
	columns of time series

H5::GroupBase *	plotGroup { nullptr }
	associated plot group

std::vector< Element * >	dependency
	vector containing all dependencies.

PlotFeatureMap	plotFeature
	plot feature

PlotFeatureMap	plotFeatureForChildren

std::map< std::string, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > >	plotAttribute

Private Member Functions
void	constructor ()
	set plot feature default values

void	addToGraph (Graph graph, fmatvec::SqrMat &A, int i, std::vector< Element > &objList)
	adds list of objects to tree More...

Static Private Member Functions
static void	sigInterruptHandler (int)
	handler for user interrupt signal

Private Attributes
bool	exitRequestPrinted

bool	READZ0
	is a state read from a file

bool	truncateSimulationFiles

std::vector< DynamicSystem * >	dynamicsystemPreReorganize

double	facSizeGs

std::vector< std::unique_ptr< Environment > >	environments

MBSimEnvironment *	mbsimEnvironment = nullptr

bool	firstPlot { true }

std::unique_ptr< MultiDimNewtonMethod >	nonlinearConstraintNewtonSolver

std::unique_ptr< ConstraintResiduum >	constraintResiduum

std::unique_ptr< ConstraintJacobian >	constraintJacobian

Static Private Attributes
static std::atomic< bool >	exitRequest = false
	boolean signal evaluation for end integration set by user

Additional Inherited Members
Protected Member Functions inherited from MBSim::Element
void	updatePlotFeatures ()

Detailed Description

solver interface for modelling and simulation of dynamic systems

Author: Martin Foerg

Date: 2009-03-31 some comments (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-07-27 implicit integration (Thorsten Schindler); 2009-07-28 splitted interfaces (Thorsten Schindler); 2009-08-07 preintegration (Thorsten Schindler); 2009-08-21 reorganize hierarchy (Thorsten Schindler); 2009-12-14 revised inverse kinetics (Martin Foerg); 2010-07-06 modifications for timestepper ssc - e.g LinkStatus (Robert Huber); 2012-05-08 modifications for AutoTimeSteppingSSCIntegrator (Jan Clauberg); 2012-05-08 dhdq and dhdu with lower and upper bound (Jan Clauberg); 2014-09-16 contact forces are calculated on acceleration level (Thorsten Schindler)

Constructor & Destructor Documentation

◆ DynamicSystemSolver()

MBSim::DynamicSystemSolver::DynamicSystemSolver ( const std::string & name = "" )

constructor

Parameters

name	of dynamic system

Member Function Documentation

◆ addElement()

void MBSim::DynamicSystemSolver::addElement ( Element * element_ )

Parameters

element to add

Todo:: necessary? TODO

◆ addToGraph()

void MBSim::DynamicSystemSolver::addToGraph	(	Graph *	graph,
		fmatvec::SqrMat &	A,
		int	i,
		std::vector< Element * > &	objList
	)

private

adds list of objects to tree

Parameters

tree	where to add objects
current	node in the tree
matrix	of dependencies
current	entry of matrix of dependencies
list	of objects

◆ checkConstraintsForTermination()

void MBSim::DynamicSystemSolver::checkConstraintsForTermination ( )

overridevirtual

validate force laws concerning given tolerances

Reimplemented from MBSim::DynamicSystem.

◆ checkImpactsForTermination()

void MBSim::DynamicSystemSolver::checkImpactsForTermination ( )

overridevirtual

validate force laws concerning given tolerances on velocity level

Reimplemented from MBSim::DynamicSystem.

◆ dropContactMatrices()

void MBSim::DynamicSystemSolver::dropContactMatrices ( )

writes a file with relevant matrices for debugging

◆ getElement()

Element * MBSim::DynamicSystemSolver::getElement ( const std::string & name )

Parameters

name	of the element

Returns: the pointer to an element

Todo:: not activated TODO

◆ getEnvironment()

template<class Env >

Env * MBSim::DynamicSystemSolver::getEnvironment

Get the Environment of type Env. Note that this function uses runtime type information to get the correct environment. This may be slow! Instead of calling this method often you should call it once, store the returned pointer and use this pointer. If no Environment of type Env exits a new one (empty one) is added first and than returned.

◆ getLinkStatus()

void MBSim::DynamicSystemSolver::getLinkStatus ( fmatvec::VecInt & LinkStatusExt )

brief collect status of all set-valued links

Parameters

result	vector
time

◆ getLinkStatusReg()

void MBSim::DynamicSystemSolver::getLinkStatusReg ( fmatvec::VecInt & LinkStatusRegExt )

brief collect status of all single-valued links

Parameters

result	vector
time

◆ getMBSimEnvironment()

MBSimEnvironment * MBSim::DynamicSystemSolver::getMBSimEnvironment ( )

Get the MBSimEnvironment. This method a convinence method being fast compared to getEnvironment<MBSimEnvironment>

◆ getSolverInfo()

string MBSim::DynamicSystemSolver::getSolverInfo ( )

Returns: information for solver

◆ init()

void MBSim::DynamicSystemSolver::init	(	InitStage	stage,
		const InitConfigSet &	config
	)

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::DynamicSystem.

◆ initialize()

void MBSim::DynamicSystemSolver::initialize ( )

Initialize the system.

This function calls init(InitStage stage) with all stages defined in the enumeration InitStage, in the order in which they are defined in this enumeration.

The init(InitStage stage) functions of all classes MUST call the init(InitStage stage) functions of all objects for which this class holds as a container. This call is always done at the end of the function independent of the stage.

If the init(InitStage stage) function implements a given stage, the init(InitStage stage) function of the base class should be call or not as expected by the programer for this stage. For all other (not implemented) stages the function of the base call must always be called.

Example for a proper init(InitStage stage) function:

void MyClass::init(InitStage stage) {
  if(stage==preInit) {
    // do something
    MyBaseClass::init(stage, config); // base must be called
    // do something
  }
  else if(stage==plot) {
    // do something
    // base need not be called
  }
  else
    MyBaseClass::init(stage, config);
 
  for(int i=0; i<container.size(); i++)
    container[i]->init(stage, config);
}

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::Element.

◆ initla()

void MBSim::DynamicSystemSolver::initla ( )

load contact forces for use as starting value

Todo:: put in dynamic system TODO

◆ initLa()

void MBSim::DynamicSystemSolver::initLa ( )

load contact impulses for use as starting value

Todo:: put in dynamic system TODO

◆ plot()

void MBSim::DynamicSystemSolver::plot ( )

overridevirtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::DynamicSystem.

◆ readz0()

void MBSim::DynamicSystemSolver::readz0 ( std::string fileName )

reads state from a file

Parameters

name	of the file

◆ resetUpToDate()

void MBSim::DynamicSystemSolver::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ savela()

void MBSim::DynamicSystemSolver::savela ( )

save contact forces for use as starting value in next time step

Todo:: put in dynamic system TODO

◆ saveLa()

void MBSim::DynamicSystemSolver::saveLa ( )

save contact impulses for use as starting value in next time step

Todo:: put in dynamic system TODO

◆ setDynamicSystemSolverTolerance()

void MBSim::DynamicSystemSolver::setDynamicSystemSolverTolerance ( double tol )

inline

set tolerance for global none-linear solver (solvers on DynamicSystemSolver level), like the Newton-Solver in directNonlinear

Parameters

tolerance

◆ setLocalSolverTolerance()

void MBSim::DynamicSystemSolver::setLocalSolverTolerance ( double tol )

inline

set tolerance for local none-linear solver (solvers on element level), like the Newton-Solver in JointConstraint

Parameters

tolerance

◆ setProjectionTolerance()

void MBSim::DynamicSystemSolver::setProjectionTolerance ( double tol )

inline

set tolerance for projection of generalized position

Parameters

tolerance

◆ setStopIfNoConvergence()

void MBSim::DynamicSystemSolver::setStopIfNoConvergence	(	bool	flag,
		bool	dropInfo = `false`
	)

inline

Parameters

specify	whether time integration should be stopped in case of no convergence of constraint-problem
specify	whether contact informations should be dropped to file

◆ shift()

const Vec & MBSim::DynamicSystemSolver::shift	(	std::optional< std::reference_wrapper< bool > > &&	velProjWasCalled = `{}`,
		std::optional< std::reference_wrapper< bool > > &&	posProjWasCalled = `{}`
	)

virtual

update for event driven integrator for event

Parameters

state	(return)
boolean	evaluation of stop vector
time

◆ solveConstraintsFixpointSingle()

int MBSim::DynamicSystemSolver::solveConstraintsFixpointSingle ( )

overridevirtual

solve contact equations with single step fixed point scheme

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ solveConstraintsGaussSeidel()

int MBSim::DynamicSystemSolver::solveConstraintsGaussSeidel ( )

overridevirtual

solve contact equations with Gauss-Seidel scheme

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ solveConstraintsLinearEquations()

int MBSim::DynamicSystemSolver::solveConstraintsLinearEquations ( )

solution of contact equations with direct linear solver using minimum of least squares

Returns: iterations of solver

Todo:: put in dynamic system? TODO

◆ solveConstraintsNonlinearEquations()

int MBSim::DynamicSystemSolver::solveConstraintsNonlinearEquations ( )

solution of contact equations with direct nonlinear newton solver using minimum of least squares in each iteration step

Returns: iterations of solver

Todo:: put in dynamic system? TODO

◆ solveConstraintsRootFinding()

int MBSim::DynamicSystemSolver::solveConstraintsRootFinding ( )

overridevirtual

solve contact equations with Newton scheme

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ solveImpactsFixpointSingle()

int MBSim::DynamicSystemSolver::solveImpactsFixpointSingle ( )

overridevirtual

solve impact equations with single step fixed point scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ solveImpactsGaussSeidel()

int MBSim::DynamicSystemSolver::solveImpactsGaussSeidel ( )

overridevirtual

solve impact equations with Gauss-Seidel scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ solveImpactsLinearEquations()

int MBSim::DynamicSystemSolver::solveImpactsLinearEquations ( )

solution of contact equations with Cholesky decomposition on velocity level

Parameters

time	step-size, if 0 non-impulsive contributions vanish

Returns: iterations of solver

Todo:: put in dynamic system? TODO

◆ solveImpactsRootFinding()

int MBSim::DynamicSystemSolver::solveImpactsRootFinding ( )

overridevirtual

solve impact equations with Newton scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented from MBSim::DynamicSystem.

◆ updatedq()

void MBSim::DynamicSystemSolver::updatedq ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updatedu()

void MBSim::DynamicSystemSolver::updatedu ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updatedx()

void MBSim::DynamicSystemSolver::updatedx ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateG()

void MBSim::DynamicSystemSolver::updateG ( )

virtual

updates mass action matrix

Parameters

time

◆ updateg()

void MBSim::DynamicSystemSolver::updateg ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updategd()

void MBSim::DynamicSystemSolver::updategd ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updategdRef()

void MBSim::DynamicSystemSolver::updategdRef ( fmatvec::Vec & ref )

inlineoverridevirtual

references to relative velocities of dynamic system parent

Parameters

vector to be referenced

Reimplemented from MBSim::DynamicSystem.

◆ updategRef()

void MBSim::DynamicSystemSolver::updategRef ( fmatvec::Vec & ref )

inlineoverridevirtual

references to relative distances of dynamic system parent

Parameters

vector to be referenced

Reimplemented from MBSim::DynamicSystem.

◆ updateh()

void MBSim::DynamicSystemSolver::updateh ( int i = 0 )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateJrla()

void MBSim::DynamicSystemSolver::updateJrla ( int j = 0 )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateLLM()

void MBSim::DynamicSystemSolver::updateLLM ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateM()

void MBSim::DynamicSystemSolver::updateM ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updater()

void MBSim::DynamicSystemSolver::updater ( int j = 0 )

overridevirtual

update smooth link force law

for links holding non-smooth contributions \(\dd\vLambda\), the respective forces are projected into the minimal coordinate representation of the associated Bodys using the JACOBIAN matrices \(\vJ\).

\[ \vr = \vJ\dd\vLambda \]

The JACOBIAN is provided by the connected Frames (which might be user-defined for Joints or internally defined for Contacts).

Parameters

simulation time

Reimplemented from MBSim::DynamicSystem.

◆ updateStopVector()

void MBSim::DynamicSystemSolver::updateStopVector ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateT()

void MBSim::DynamicSystemSolver::updateT ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateV()

void MBSim::DynamicSystemSolver::updateV ( int j = 0 )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updateVRef()

void MBSim::DynamicSystemSolver::updateVRef	(	fmatvec::Mat &	ref,
		int	i = `0`
	)

inlineoverridevirtual

references to condensed contact force direction matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

Reimplemented from MBSim::DynamicSystem.

◆ updateW()

void MBSim::DynamicSystemSolver::updateW ( int j = 0 )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updatewb()

void MBSim::DynamicSystemSolver::updatewb ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updatewbRef()

void MBSim::DynamicSystemSolver::updatewbRef ( fmatvec::Vec & ref )

inlineoverridevirtual

references to TODO of dynamic system parent

Parameters

vector to be referenced

Reimplemented from MBSim::DynamicSystem.

◆ updateWRef()

void MBSim::DynamicSystemSolver::updateWRef	(	fmatvec::Mat &	ref,
		int	i = `0`
	)

inlineoverridevirtual

references to contact force direction matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

Reimplemented from MBSim::DynamicSystem.

◆ updatezd()

void MBSim::DynamicSystemSolver::updatezd ( )

overridevirtual

Reimplemented from MBSim::DynamicSystem.

◆ updatezdRef()

void MBSim::DynamicSystemSolver::updatezdRef ( fmatvec::Vec & ext )

references to differentiated external state

mbsim/dynamic_system_solver.cc

Parameters

differentiated external state

◆ updatezRef()

void MBSim::DynamicSystemSolver::updatezRef ( fmatvec::Vec & ext )

references to external state

Parameters

external state

◆ writeStateTable()

void MBSim::DynamicSystemSolver::writeStateTable ( std::string fileName )

writes state table to a file

Parameters

name	of the file
h5,else	ascii

◆ writez()

void MBSim::DynamicSystemSolver::writez	(	std::string	fileName,
		bool	formatH5 = `true`
	)

writes state to a file

Parameters

name	of the file
h5,else	ascii

Member Data Documentation

◆ solveConstraints_

int(DynamicSystemSolver::* MBSim::DynamicSystemSolver::solveConstraints_) ()

\function pointer for election of prox-solver for contact equations

Returns: iterations of solver

◆ solveImpacts_

int(DynamicSystemSolver::* MBSim::DynamicSystemSolver::solveImpacts_) ()

function pointer for election of prox-solver for impact equations on velocity level

Parameters

time step

Returns: iterations of solver

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

/mbsim-env/mbsim/kernel/mbsim/dynamic_system_solver.h
/mbsim-env/mbsim/kernel/mbsim/dynamic_system_solver.cc

Classes

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DynamicSystemSolver()

Member Function Documentation

◆ addElement()

◆ addToGraph()

◆ checkConstraintsForTermination()

◆ checkImpactsForTermination()

◆ dropContactMatrices()

◆ getElement()

◆ getEnvironment()

◆ getLinkStatus()

◆ getLinkStatusReg()

◆ getMBSimEnvironment()

◆ getSolverInfo()

◆ init()

◆ initialize()

◆ initializeUsingXML()

◆ initla()

◆ initLa()

◆ plot()

◆ readz0()

◆ resetUpToDate()

◆ savela()

◆ saveLa()

◆ setDynamicSystemSolverTolerance()

◆ setLocalSolverTolerance()

◆ setProjectionTolerance()

◆ setStopIfNoConvergence()

◆ shift()

◆ solveConstraintsFixpointSingle()

◆ solveConstraintsGaussSeidel()

◆ solveConstraintsLinearEquations()

◆ solveConstraintsNonlinearEquations()

◆ solveConstraintsRootFinding()

◆ solveImpactsFixpointSingle()

◆ solveImpactsGaussSeidel()

◆ solveImpactsLinearEquations()

◆ solveImpactsRootFinding()

◆ updatedq()

◆ updatedu()

◆ updatedx()

◆ updateG()

◆ updateg()

◆ updategd()

◆ updategdRef()

◆ updategRef()

◆ updateh()

◆ updateJrla()

◆ updateLLM()

◆ updateM()

◆ updater()

◆ updateStopVector()

◆ updateT()

◆ updateV()

◆ updateVRef()

◆ updateW()

◆ updatewb()

◆ updatewbRef()

◆ updateWRef()

◆ updatezd()

◆ updatezdRef()

◆ updatezRef()

◆ writeStateTable()

◆ writez()

Member Data Documentation

◆ solveConstraints_

◆ solveImpacts_