MBSim::ThetaTimeSteppingIntegrator Class Reference

#include <theta_time_stepping_integrator.h>

Inheritance diagram for MBSim::ThetaTimeSteppingIntegrator:

Public Member Functions
	~ThetaTimeSteppingIntegrator () 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	setTheta (double theta_)
void	setToleranceForPositionConstraints (double gMax_)
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 Member Functions
void	resize ()

Private Attributes
double	dt {1e-3}
	step size
double	theta {0.5}
	convex combination parameter between explicit (0) and implicit (1) Euler scheme
double	t {0}
	time and plot time
double	tPlot {0}
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}
double	s0 {0}
	computing time counter
double	time {0}
int	stepPlot {0}
	plot step difference
double	gMax {-1}

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 theta-time-stepping integrator of first order

Author

Roland Zander

Thorsten Schindler

Date

2009-07-18 new kernel_dev (Thorsten Schindler)

2009-07-19 Delassus matrix / split of update (Thorsten Schindler)

2009-07-27 some fixes (Thorsten Schindler)

2010-04-23 integrate splitted (Thorsten Schindler)

Member Function Documentation

initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::Integrator.

integrate() [1/2]

void MBSim::ThetaTimeSteppingIntegrator::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::ThetaTimeSteppingIntegrator::postIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

preIntegrate()

void MBSim::ThetaTimeSteppingIntegrator::preIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

subIntegrate()

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

overridevirtual

Reimplemented from MBSim::Integrator.

Member Data Documentation

gMax

double MBSim::ThetaTimeSteppingIntegrator::gMax {-1}

private

tolerance for position constraints

---

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

• /mbsim-env/mbsim/kernel/mbsim/integrators/theta_time_stepping_integrator.h
• /mbsim-env/mbsim/kernel/mbsim/integrators/theta_time_stepping_integrator.cc