ODE-Integrator RKSuite. More...

#include <rksuite_integrator.h>

Inheritance diagram for MBSim::RKSuiteIntegrator:

Public Types
enum	Method { RK23 =1 , RK45 , RK78 , unknownMethod }

Public Member Functions
virtual	~RKSuiteIntegrator () override
	destructor

void	preIntegrate () override

void	subIntegrate (double tStop) override

void	postIntegrate () override

void	setMethod (Method method_)

void	setRelativeTolerance (double rTol_)

void	setThreshold (const fmatvec::Vec &thres_)

void	setThreshold (double thres_)

void	setInitialStepSize (double dt0_)

void	integrate () override
	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) 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::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

Static Private Member Functions
static void	fzdot (double t, double z_, double *zd_)

Private Attributes
int	zSize

Method	method {RK45}

fmatvec::Vec	thres

double	rTol {1e-6}

double	dt0 {0}

int	lenwrk

int	messages {0}

int	integrationSteps {0}

int	lenint

double	t {0}

double	tPlot {0}

double	s0 {0}

double	time {0}

double *	work {nullptr}

double *	workint {nullptr}

fmatvec::Vec	z

fmatvec::Vec	zd

fmatvec::Vec	zMax

fmatvec::Vec	zWant

fmatvec::Vec	zdWant

std::exception_ptr	exception

Static Private Attributes
static RKSuiteIntegrator *	selfStatic = nullptr

Additional Inherited Members
Protected Member Functions inherited from MBSim::RootFindingIntegrator
bool	signChangedWRTsvLast (const fmatvec::Vec &svStepEnd) const

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

ODE-Integrator RKSuite.

This integrator uses RKSUITE (http://www.netlib.org/ode/rksuite).

Member Function Documentation

◆ initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::RootFindingIntegrator.

◆ integrate() [1/2]

void MBSim::RKSuiteIntegrator::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::RKSuiteIntegrator::postIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

◆ preIntegrate()

void MBSim::RKSuiteIntegrator::preIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

◆ subIntegrate()

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

overridevirtual

Reimplemented from MBSim::Integrator.

Member Data Documentation

◆ dt0

double MBSim::RKSuiteIntegrator::dt0 {0}

private

initial step size

◆ method

Method MBSim::RKSuiteIntegrator::method {RK45}

private

method

◆ rTol

double MBSim::RKSuiteIntegrator::rTol {1e-6}

private

relative tolerance

◆ thres

fmatvec::Vec MBSim::RKSuiteIntegrator::thres

private

threshold

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

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

Public Types

Public Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ initializeUsingXML()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ postIntegrate()

◆ preIntegrate()

◆ subIntegrate()

Member Data Documentation

◆ dt0

◆ method

◆ rTol

◆ thres