MBSim::ThetaTimeSteppingSSCIntegrator Class Reference

#include <theta_time_stepping_ssc_integrator.h>

Inheritance diagram for MBSim::ThetaTimeSteppingSSCIntegrator:

Public Member Functions
	ThetaTimeSteppingSSCIntegrator ()
	constructor
virtual	~ThetaTimeSteppingSSCIntegrator ()
	destructor
void	integrate ()
	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)
	initialize integrator More...
void	setStepSize (double dt_)
void	setTheta (double theta_)
void	setDriftCompensation (bool dc)
void	update (const fmatvec::Vec &z, double t)
	update of dynamic system necessary values concerning theta time stepping integrator More...
void	preIntegrate ()
	preintegration steps More...
void	subIntegrate (double tStop)
	integration steps More...
void	postIntegrate ()
	postintegration steps 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::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 Attributes
double	dt
	step size
double	theta
	convex combination parameter between explicit (0) and implicit (1) Euler scheme
double	t
	time and plot time
double	tPlot
int	iter
	iteration counter for constraints, plots, integration, maximum constraints, cummulation constraint
int	step
int	integrationSteps
int	maxIter
int	sumIter
double	s0
	computing time counter
double	time
int	stepPlot
	plot step difference
fmatvec::Vec	z
	state, position, velocity, order coordinate of dynamical system
fmatvec::Vec	q
fmatvec::Vec	u
fmatvec::Vec	x
std::ofstream	integPlot
	file stream for integration information
bool	driftCompensation
	flag for drift compensation

Additional Inherited Members
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

brief theta-time-stepping integrator with step size adjustment

Author

Jan Clauberg

Member Function Documentation

initializeUsingXML()

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

virtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::Integrator.

integrate() [1/2]

void MBSim::ThetaTimeSteppingSSCIntegrator::integrate ( )

virtual

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::ThetaTimeSteppingSSCIntegrator::postIntegrate ( )

virtual

postintegration steps

Parameters

dynamic

system

Reimplemented from MBSim::Integrator.

preIntegrate()

void MBSim::ThetaTimeSteppingSSCIntegrator::preIntegrate ( )

virtual

preintegration steps

Parameters

dynamic

system

Reimplemented from MBSim::Integrator.

subIntegrate()

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

virtual

integration steps

Parameters

dynamic	system
end	time of integration

Reimplemented from MBSim::Integrator.

update()

void MBSim::ThetaTimeSteppingSSCIntegrator::update	(	const fmatvec::Vec &	z,
		double	t
	)

update of dynamic system necessary values concerning theta time stepping integrator

Parameters

dynamic	system
state	vector
time

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

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