MBSim::HETS2Integrator Class Reference

time integration scheme on velocity level for nonsmooth dynamical systems using half-explicit trapezoidal rule More...

#include <hets2_integrator.h>

Inheritance diagram for MBSim::HETS2Integrator:

Public Member Functions
	~HETS2Integrator () override=default
	destructor
void	preIntegrate () override
	initializes the integration More...
void	subIntegrate (double tStop) override
	does the integration More...
void	postIntegrate () override
	closes the integration More...
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
void	setStepSize (double dt_)
void	updatebc ()
void	updatezd ()
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::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

Private Member Functions
bool	evaluateStage ()
	evaluates the dynamical system given the state of the stage until the Jacobian matrices More...

Private Attributes
double	dt {1e-3}
	step size for non-impulsive periods, and impulsive periods, and last used
double	dtImpulsive {1e-4}
double	dtInfo {1e-3}
double	tPlot {0.}
	time and plot time
int	integrationSteps {0}
	iteration counter for constraints, integration, non-impulsive integration, impulsive integration, maximum constraints, cummulation constraint
int	integrationStepsConstraint {0}
int	integrationStepsImpact {0}
int	maxIter {0}
int	sumIter {0}
double	s0 {0.}
	computing time counter
double	time {0.}
fmatvec::Vec	bc

Additional Inherited Members
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

time integration scheme on velocity level for nonsmooth dynamical systems using half-explicit trapezoidal rule

Author

Thorsten Schindler

Date

2014-09-12 initial commit (Thorsten Schindler)

2014-09-17 notation of Brasey1994a (Thorsten Schindler)

2014-09-18 first final status with contact and impact with the slider-crank mechanism (Thorsten Schindler)

2014-09-22 naive step-size adaptation according experience with the error constants, not square root relationship (Thorsten Schindler)

time discontinuous Galerkin method on velocity level using half-explicit trapezoidal rule

T. Schindler, S. Rezaei, J. Kursawe, V. Acary : Half-explicit timestepping schemes on velocity level based on time-discontinuous Galerkin methods

T. Schindler, V. Acary : Timestepping Schemes for Nonsmooth Dynamics Based on Discontinuous Galerkin Methods: Definition and Outlook

Member Function Documentation

evaluateStage()

bool MBSim::HETS2Integrator::evaluateStage ( )

private

evaluates the dynamical system given the state of the stage until the Jacobian matrices

Parameters

dynamical

system to be integrated return flag for occuring impact

initializeUsingXML()

void MBSim::HETS2Integrator::initializeUsingXML ( xercesc::DOMElement *  element )

overridevirtual

Reimplemented from MBSim::Solver.

integrate() [1/2]

void MBSim::HETS2Integrator::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.

postIntegrate()

void MBSim::HETS2Integrator::postIntegrate ( )

overridevirtual

closes the integration

Parameters

dynamical

system to be integrated

Reimplemented from MBSim::Integrator.

preIntegrate()

void MBSim::HETS2Integrator::preIntegrate ( )

overridevirtual

initializes the integration

Parameters

dynamical

system to be integrated

Reimplemented from MBSim::Integrator.

subIntegrate()

void MBSim::HETS2Integrator::subIntegrate ( double  tStop )

overridevirtual

does the integration

Parameters

dynamical

system to be integrated

Reimplemented from MBSim::Integrator.

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

• /mbsim-env/mbsim/kernel/mbsim/integrators/hets2_integrator.h
• /mbsim-env/mbsim/kernel/mbsim/integrators/hets2_integrator.cc