DAE-Integrator RADAU. More...

#include <radau_integrator.h>

Inheritance diagram for MBSim::RADAUIntegrator:

Public Types
enum class	StepSizeControl { ModPred = 1 , Classic = 2 }

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

Public Member Functions
void	setInitialStepSize (double dt0_)

void	setMaximumStepSize (double dtMax_)

void	setStepLimit (int maxSteps_)

void	setMaximalNumberOfNewtonIterations (int iter)

void	setNewtonIterationTolerance (double tol)

void	setJacobianRecomputation (double value)

void	setJacobianRecomputationAtRejectedSteps (bool recomp)

void	setStepSizeControl (StepSizeControl ssc)

void	setStepSizeSaftyFactor (double fac)

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::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(*	Fzdot) (int n, double t, double y, double yd, double rpar, int ipar)

typedef void(*	Jac) (int n, double t, double y, double J, int nn, double rpar, int *ipar)

typedef void(*	Mass) (int n, double m, int lmas, double rpar, int *ipar)

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

void	reinit () override

Static Private Member Functions
static void	fzdotODE (int n, double t, double z, double zd, double rpar, int ipar)

static void	fzdotDAE1 (int n, double t, double y, double yd, double rpar, int ipar)

static void	fzdotDAE2 (int n, double t, double y, double yd, double rpar, int ipar)

static void	fzdotDAE3 (int n, double t, double y, double yd, double rpar, int ipar)

static void	jacODE (int n, double t, double z, double J, int nn, double rpar, int *ipar)

static void	jacDAE1 (int n, double t, double y, double J, int nn, double rpar, int *ipar)

static void	jacDAE2 (int n, double t, double y, double J, int nn, double rpar, int *ipar)

static void	jacDAE3 (int n, double t, double y, double J, int nn, double rpar, int *ipar)

static void	jacGGL (int n, double t, double y, double J, int nn, double rpar, int *ipar)

static void	fzdotGGL (int n, double t, double y, double yd, double rpar, int ipar)

static void	massFull (int n, double m, int lmas, double rpar, int *ipar)

static void	massReduced (int n, double m, int lmas, double rpar, int *ipar)

static void	plot (int nr, double told, double t, double y, double cont, int lrc, int n, double rpar, int ipar, int irtrn)

Private Attributes
double	tPlot {0}

double	dtOut {0}

double	s0

double	time {0}

double	dt0 {0}

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

double	dtMax {0}

int	mlJac

int	muJac

std::vector< int >	iWorkExtended

int *	iWork

fmatvec::Vec	work

int	maxNewtonIter { 0 }

double	newtonIterTol { 0 }

double	jacobianRecomputation { 0 }

bool	jacobianRecomputationAtRejectedSteps { true }

bool	drift { false }

StepSizeControl	stepSizeControl { StepSizeControl::ModPred }

double	stepSizeSaftyFactor { 0.9 }

std::exception_ptr	exception

Static Private Attributes
static Fzdot	fzdot [5]

static Jac	jac [5]

static Mass	mass [2]

Additional Inherited Members
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

DAE-Integrator RADAU.

Member Function Documentation

◆ delta()

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

overrideprivatevirtual

Reimplemented from MBSim::ImplicitIntegrator.

◆ initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::DAEIntegrator.

◆ integrate() [1/2]

void MBSim::RADAUIntegrator::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.

◆ reinit()

void MBSim::RADAUIntegrator::reinit ( )

overrideprivatevirtual

Reimplemented from MBSim::DAEIntegrator.

Member Data Documentation

◆ dt0

double MBSim::RADAUIntegrator::dt0 {0}

private

step size for the first step

◆ dtMax

double MBSim::RADAUIntegrator::dtMax {0}

private

maximal step size

◆ maxSteps

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

private

maximum number of steps

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

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

Public Types

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()

◆ initializeUsingXML()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ reinit()

Member Data Documentation

◆ dt0

◆ dtMax

◆ maxSteps