mbsim  4.0.0
MBSim Kernel
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
MBSim::RootFindingIntegrator Class Reference

Integrator with root-finding. More...

#include <root_finding_integrator.h>

Inheritance diagram for MBSim::RootFindingIntegrator:
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Public Member Functions

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
 

Protected Member Functions

bool signChangedWRTsvLast (const fmatvec::Vec &svStepEnd) const
 

Protected Attributes

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

Integrator with root-finding.

Member Function Documentation

◆ initializeUsingXML()

void MBSim::RootFindingIntegrator::initializeUsingXML ( xercesc::DOMElement *  element)
virtual

initialize integrator

Parameters
XMLdescription

Reimplemented from MBSim::Integrator.

Reimplemented in MBSim::DASPKIntegrator, MBSim::LSODAIntegrator, MBSim::LSODEIntegrator, MBSim::LSODIIntegrator, MBSim::BoostOdeintDOS< DOS >, MBSim::DAEIntegrator, MBSim::DOP853Integrator, MBSim::DOPRI5Integrator, MBSim::ODEXIntegrator, MBSim::PHEM56Integrator, MBSim::RADAU5Integrator, MBSim::RADAUIntegrator, MBSim::RKSuiteIntegrator, MBSim::RODASIntegrator, and MBSim::SEULEXIntegrator.

Member Data Documentation

◆ dtRoot

double MBSim::RootFindingIntegrator::dtRoot {1e-10}
protected

root-finding accuracy

◆ gdMax

double MBSim::RootFindingIntegrator::gdMax {-1}
protected

tolerance for velocity constraints

◆ gMax

double MBSim::RootFindingIntegrator::gMax {-1}
protected

tolerance for position constraints

◆ plotOnRoot

bool MBSim::RootFindingIntegrator::plotOnRoot {false}
protected

plot on root

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