Hindmarsh’s ODE solver LSODI. More...

#include <lsodi_integrator.h>

Inheritance diagram for MBSim::LSODIIntegrator:

Public Member Functions
void	setMaximumStepSize (double dtMax_)

void	setMinimumStepSize (double dtMin_)

void	setInitialStepSize (double dt0_)

void	setStepLimit (int maxSteps_)

void	setExcludeAlgebraicVariablesFromErrorTest (bool excludeAlgebraicVariables_)

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

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

Private Types
typedef void(*	Res) (int neq, double t, double y_, double yd_, double res_, int ires)

typedef void(*	Jac) (int neq, double t, double y_, double yd_, int ml, int mu, double J_, int nrowp)

Private Member Functions
double	delta (int i, double z) const override

void	init () override

void	reinit () override

Static Private Member Functions
static void	resODE (int neq, double t, double z_, double zd_, double res_, int ires)

static void	resDAE2 (int neq, double t, double y_, double yd_, double res_, int ires)

static void	resGGL (int neq, double t, double y_, double yd_, double res_, int ires)

static void	adda (int neq, double t, double y_, int ml, int mu, double P, int *nrowp)

static void	jacODE (int neq, double t, double y_, double yd_, int ml, int mu, double J_, int nrowp)

static void	jacDAE2 (int neq, double t, double y_, double yd_, int ml, int mu, double J_, int nrowp)

static void	jacGGL (int neq, double t, double y_, double yd_, int ml, int mu, double J_, int nrowp)

Private Attributes
double	dtMax {0}

double	dtMin {0}

double	dt0 {0}

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

bool	excludeAlgebraicVariables {true}

fmatvec::VecInt	neq_

fmatvec::Vec	rWork

int	lewt

std::exception_ptr	exception

Static Private Attributes
static Res	res [5]

static Jac	jac [5]

Additional Inherited Members
Public Types inherited from MBSim::DAEIntegrator
enum	Formalism { ODE =0 , DAE1 , DAE2 , DAE3 , GGL , unknown }

Protected Member Functions inherited from MBSim::DAEIntegrator
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 inherited from MBSim::DAEIntegrator
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

Hindmarsh’s ODE solver LSODI.

Livermore Solver for Ordinary Differential Equations (Implicit form). LSODI solves the initial-value problem for differential-algebraic systems of index 2. This integrator uses ODEPACK (http://www.netlib.org/odepack).

Member Function Documentation

◆ delta()

double MBSim::LSODIIntegrator::delta	(	int	i,
		double	z
	)		const

overrideprivatevirtual

Reimplemented from MBSim::ImplicitIntegrator.

◆ init()

void MBSim::LSODIIntegrator::init ( )

overrideprivatevirtual

Reimplemented from MBSim::DAEIntegrator.

◆ initializeUsingXML()

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

virtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::DAEIntegrator.

◆ integrate() [1/2]

void MBSim::LSODIIntegrator::integrate ( )

virtual

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.

◆ reinit()

void MBSim::LSODIIntegrator::reinit ( )

overrideprivatevirtual

Reimplemented from MBSim::DAEIntegrator.

Member Data Documentation

◆ dt0

double MBSim::LSODIIntegrator::dt0 {0}

private

step size for the first step

◆ dtMax

double MBSim::LSODIIntegrator::dtMax {0}

private

maximal step size

◆ dtMin

double MBSim::LSODIIntegrator::dtMin {0}

private

minimal step size

◆ excludeAlgebraicVariables

bool MBSim::LSODIIntegrator::excludeAlgebraicVariables {true}

private

exclude algebraic variables from error test

◆ maxSteps

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

private

maximum number of steps allowed during one call to the solver.

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

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ delta()

◆ init()

◆ initializeUsingXML()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ reinit()

Member Data Documentation

◆ dt0

◆ dtMax

◆ dtMin

◆ excludeAlgebraicVariables

◆ maxSteps