#include <quasi_static_integrator.h>

Inheritance diagram for MBSim::QuasiStaticIntegrator:

Public Member Functions
	QuasiStaticIntegrator ()
	constructor

	~QuasiStaticIntegrator () override=default
	destructor

void	preIntegrate () override

void	subIntegrate (double tStop) override

void	postIntegrate () override

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...

void	setStepSize (double dt_)

void	setgTolerance (double tolerance_)

void	sethTolerance (double tolerance_)

void	setmaxExtraPolate (int value)

void	setextraPolateAfter (int value)

void	setupdateJacobianEvery (int value)

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_)

double	getStartTime () const

double	getEndTime () const

double	getPlotStepSize () const

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)

void	setInitialState (const fmatvec::Vec &z0_)

const fmatvec::Vec &	getInitialState () const

void	setSystem (DynamicSystemSolver *s)

MBSim::DynamicSystemSolver *	getSystem ()

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Private Attributes
double	dt {1e-3}
	step size

double	t {0.}
	time and plot time

double	tPlot {0.}

double	gTol {1e-10}
	tolerance for the newton iteration for distances

double	hTol {1e-10}
	tolerance for newton iteration for forces

int	iter {0}
	iteration counter for constraints, plots, integration, maximum constraints, cummulation constraint

int	step {0}

int	integrationSteps {0}

int	maxIter {0}

int	sumIter {0}

int	maxExtraPolate {0}
	value of how many points in the past should be used to extrapolate for new value

int	extraPolateAfter {2}
	extrapolate after such and that integration steps

int	updateJacobianEvery {1}
	value of how often the Jacobian should be updated every step

double	s0 {0.}
	computing time counter

double	time {0.}

int	stepPlot {0}
	plot step difference

fmatvec::Vec	z
	state, position, velocity, order coordinate of dynamical system

fmatvec::Vec	q

fmatvec::Vec	u

fmatvec::Vec	x

Additional Inherited Members
Protected Attributes inherited from MBSim::Integrator
double	tStart {0.}
	start, end, plot time

double	tEnd {1.}

double	dtPlot {1e-4}

std::string	name
	name of integrator

Protected Attributes inherited from MBSim::Solver
fmatvec::Vec	z0
	initial state

MBSim::DynamicSystemSolver *	system
	dynamic system

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

Detailed Description

brief quasi static time-stepping integrator

Author: Zhan Wang

Date: 2014-11-11 initial commit (Zhan Wang)

Member Function Documentation

◆ initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::Integrator.

◆ integrate() [1/2]

void MBSim::QuasiStaticIntegrator::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::QuasiStaticIntegrator::postIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

◆ preIntegrate()

void MBSim::QuasiStaticIntegrator::preIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

◆ subIntegrate()

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

overridevirtual

Reimplemented from MBSim::Integrator.

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

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ initializeUsingXML()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ postIntegrate()

◆ preIntegrate()

◆ subIntegrate()