Half-explicit time-stepping integrator of first or higer order with StepSize Control (SSC) important options / settings :
More...

#include <time_stepping_ssc_integrator.h>

Inheritance diagram for MBSim::TimeSteppingSSCIntegrator:

[legend]

Public Types
enum	Method { extrapolation =0 , embedded , embeddedHigherOrder , unknownMethod }

enum	GapControl { noGapControl =0 , biggestRoot , scoring , gapTolerance , smallestRoot , unknownGapControl }

enum	ErrorTest { all =0 , scale =2 , exclude =3 , unknownErrorTest }

Public Member Functions
	~TimeSteppingSSCIntegrator () override

void	setInitialStepSize (double dt_)

void	setMaximumStepSize (double dtMax_)

void	setMinimumStepSize (double dtMin_)

void	setMaximumGain (double maxGain)

void	setSafetyFactor (double sfactor)

void	setSafetyFactorForGapControl (double s)

void	setOutputInterpolation (bool flag)

void	setFlagOutputOnlyAtTPlot (bool flag)

void	setGapControl (GapControl gapControl)

void	setDriftCompensation (bool dc)

void	setMaximumOrder (int maxOrder_)

void	setMethod (Method method_)

void	setStepSizeControl (bool flag)

void	setErrorTest (ErrorTest errorTest)

void	setAlwaysValid (bool alwaysValid)

void	integrate () override
	start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first. More...

void	integrate (MBSim::DynamicSystemSolver &systemT1_, MBSim::DynamicSystemSolver &systemT2_, MBSim::DynamicSystemSolver &systemT3_, int Threads=0)

void	setAbsoluteTolerance (const fmatvec::Vec &aTol_)

void	setAbsoluteTolerance (double aTol_)

void	setRelativeTolerance (const fmatvec::Vec &rTol_)

void	setRelativeTolerance (double rTol_)

void	setgapTolerance (double gTol)

void	preIntegrate () override

void	subIntegrate (double tStop) override

void	postIntegrate () override

void	preIntegrate (MBSim::DynamicSystemSolver &systemT1_, MBSim::DynamicSystemSolver &systemT2_, MBSim::DynamicSystemSolver &systemT3_)

void	getDataForGapControl ()

bool	testTolerances ()

bool	GapControl (double qUnsafe, bool SSCTestOK)

bool	changedLinkStatus (const fmatvec::VecInt &L1, const fmatvec::VecInt &L2, int ex)

double	calculatedtNewRel (const fmatvec::Vec &ErrorLocal, double H)

void	plot ()

virtual void	initializeUsingXML (xercesc::DOMElement *element) override
	initialize integrator More...

void	updatebi ()

void	updatela ()

void	updatezd ()

virtual void	integrate ()=0

void	integrate (MBSim::DynamicSystemSolver &sys)

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

Protected Member Functions
void	resize (MBSim::DynamicSystemSolver *system)

Protected Attributes
MBSim::DynamicSystemSolver *	sysT1 {NULL}

MBSim::DynamicSystemSolver *	sysT2 {NULL}

MBSim::DynamicSystemSolver *	sysT3 {NULL}

double	dt {1e-6}

double	dtOld {1e-6}

double	dte {1e-6}

double	dtMin {0}

double	dtMax {1e-3}

double	dt_SSC_vorGapControl {0}

bool	driftCompensation {false}

double	t {0}

double	tPlot {0}

int	qSize {0}

int	xSize {0}

int	uSize {0}

int	zSize {0}

fmatvec::Vec	ze

fmatvec::Vec	zi

fmatvec::Vec	z1d

fmatvec::Vec	z2d

fmatvec::Vec	z2dRE

fmatvec::Vec	z3d

fmatvec::Vec	z4d

fmatvec::Vec	z6d

fmatvec::Vec	z2b

fmatvec::Vec	z3b

fmatvec::Vec	z4b

fmatvec::Vec	z6b

fmatvec::Vec	zStern

fmatvec::VecInt	LS

fmatvec::VecInt	LSe

fmatvec::VecInt	LStmp_T1

fmatvec::VecInt	LStmp_T2

fmatvec::VecInt	LStmp_T3

fmatvec::VecInt	LSA

fmatvec::VecInt	LSB1

fmatvec::VecInt	LSB2

fmatvec::VecInt	LSC1

fmatvec::VecInt	LSC2

fmatvec::VecInt	LSC3

fmatvec::VecInt	LSC4

fmatvec::VecInt	LSD1

fmatvec::VecInt	LSD2

fmatvec::VecInt	LSD3

fmatvec::VecInt	LSD4

fmatvec::VecInt	LSD5

fmatvec::VecInt	LSD6

fmatvec::Vec	la

fmatvec::Vec	lae

fmatvec::Vec	la1d

fmatvec::Vec	la2b

fmatvec::VecInt	laSizes

fmatvec::VecInt	laeSizes

fmatvec::VecInt	la1dSizes

fmatvec::VecInt	la2bSizes

fmatvec::Vec	gInActive

fmatvec::Vec	gdInActive

std::vector< MBSim::Link * >	SetValuedLinkListT1

std::vector< MBSim::Link * >	SetValuedLinkListT2

std::vector< MBSim::Link * >	SetValuedLinkListT3

int	StepsWithUnchangedConstraints {-1}

int	FlagErrorTest {2}

bool	FlagErrorTestAlwaysValid {true}

fmatvec::Vec	aTol

fmatvec::Vec	rTol

bool	FlagSSC {true}

int	maxOrder {1}

Method	method {extrapolation}

bool	FlagGapControl {false}

double	gapTol {1e-6}

double	maxGainSSC {2.2}

double	safetyFactorSSC {0.7}

bool	FlagOutputOnlyAtTPlot {false}

bool	FlagPlotEveryStep {false}

bool	outputInterpolation {false}

double	safetyFactorGapControl {-1}

GapControl	GapControlStrategy {biggestRoot}

int	numThreads {1}

double	time {0}

MBSim::StopWatch	Timer

int	iter {0}

int	iterA {0}

int	iterB1 {0}

int	iterB2 {0}

int	iterC1 {0}

int	iterC2 {0}

int	iterC3 {0}

int	iterC4 {0}

int	iterB2RE {0}

int	maxIterUsed {0}

int	maxIter {0}

int	sumIter {0}

int	integrationSteps {0}

int	integrationStepswithChange {0}

int	refusedSteps {0}

int	refusedStepsWithImpact {0}

int	wrongAlertGapControl {0}

int	stepsOkAfterGapControl {0}

int	stepsRefusedAfterGapControl {0}

int	statusGapControl {0}

int	singleStepsT1 {0}

int	singleStepsT2 {0}

int	singleStepsT3 {0}

double	dtRelGapControl {1}

double	qUncertaintyByExtrapolation {0}

int	indexLSException {-1}

fmatvec::Vec	gUniActive

double	Penetration {0}

double	PenetrationCounter {0}

double	PenetrationLog {0}

double	PenetrationMin {0}

double	PenetrationMax {0}

double	maxdtUsed {0}

double	mindtUsed {0}

bool	ChangeByGapControl {false}

bool	calcBlock2 {0}

bool	IterConvergence {0}

bool	ConstraintsChanged {0}

bool	ConstraintsChangedBlock1 {0}

bool	ConstraintsChangedBlock2 {0}

int	integrationStepsOrder1 {0}

int	integrationStepsOrder2 {0}

int	order {1}

int	StepTrials {0}

int	AnzahlAktiverKontakte {0}

double	gNDurchschnittprostep {0}

fmatvec::Vec	bi

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

Half-explicit time-stepping integrator of first or higer order with StepSize Control (SSC) important options / settings :

a) setMaxOrder(int order, int method=0) order: maximum order of integration scheme 1 to 3 with SSC by extrapolation (method=0) (order=4 without SSC) 1 to 4 with embedded SSC (1=1(2), ... 4=4(5)) (method=1 or 2) method: method used for error estimation and step size control 0: step size control by extrapolation (steps wit dt and dt/2 are compared) DEFAULT 1: embedded method (compare maxOrder maxOrder+1); proceed with maxOrder (recommended) 2: embedded method with local extrapolation (integration is continued with maxOrder+1)

b) setFlagErrorTest(int Flag, bool alwaysValid= true) Flag: for scaling variables for the purpose of error estimation
0: include velocities u for error test 2: scale velocities u with stepsize for error test 3: exclude velocities u for error test alwaysValid: true : u is scaled resp. exluded during smooth and nonsmooth steps alwaysValid: false : u is scaled resp. exluded only during nonsmooth steps

c) deactivateSSC(bool flag=false) : maximum order: 1 to 4

d) setGapControl(bool FlagGapControl=true, int GapControlStrategy=0)
FlagGapControl activate / deactivate gap control GapControlStrategy choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated

Author: Robert Huber

Date: 2009-09-07 modifications for mbsim_dev

Constructor & Destructor Documentation

◆ ~TimeSteppingSSCIntegrator()

MBSim::TimeSteppingSSCIntegrator::~TimeSteppingSSCIntegrator ( )

override

Destructor

Member Function Documentation

◆ getDataForGapControl()

void MBSim::TimeSteppingSSCIntegrator::getDataForGapControl ( )

internal subroutines

◆ initializeUsingXML()

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

overridevirtual

initialize integrator

Parameters

XML	description

Reimplemented from MBSim::Integrator.

◆ integrate() [1/4]

void MBSim::TimeSteppingSSCIntegrator::integrate ( )

overridevirtual

start the integration of the system set by setSystem. Each class implemeting this function should call debugInit first.

Implements MBSim::Integrator.

◆ integrate() [2/4]

virtual void MBSim::Integrator::integrate ( )

virtual

Start the integration

Implements MBSim::Integrator.

◆ integrate() [3/4]

void MBSim::Integrator::integrate ( MBSim::DynamicSystemSolver & sys )

inline

Start the integration

◆ integrate() [4/4]

void MBSim::TimeSteppingSSCIntegrator::integrate	(	MBSim::DynamicSystemSolver &	systemT1_,
		MBSim::DynamicSystemSolver &	systemT2_,
		MBSim::DynamicSystemSolver &	systemT3_,
		int	Threads = `0`
	)

Threads: Number of Threads (0,1,2 or 3) 0: auto (number of threads depends on order and SSC)

◆ postIntegrate()

void MBSim::TimeSteppingSSCIntegrator::postIntegrate ( )

overridevirtual

Reimplemented from MBSim::Integrator.

◆ preIntegrate()

void MBSim::TimeSteppingSSCIntegrator::preIntegrate ( )

overridevirtual

subroutines for integrate function

Reimplemented from MBSim::Integrator.

◆ setAlwaysValid()

void MBSim::TimeSteppingSSCIntegrator::setAlwaysValid ( bool alwaysValid )

inline

alwaysValid = true : u is scaled resp. exluded during the smooth and nonsmooth part alwaysValid = false : u is scaled resp. exluded only during nonsmooth steps

◆ setDriftCompensation()

void MBSim::TimeSteppingSSCIntegrator::setDriftCompensation ( bool dc )

inline

Set drift compensation

◆ setErrorTest()

void MBSim::TimeSteppingSSCIntegrator::setErrorTest ( ErrorTest errorTest )

inline

Set error test (default 0: all variables ae tested; 2: u is scaled with dt; 3: exclude u

◆ setFlagOutputOnlyAtTPlot()

void MBSim::TimeSteppingSSCIntegrator::setFlagOutputOnlyAtTPlot ( bool flag )

inline

set Flag for writing output only at tPlot-Time instances or not (default false)

◆ setGapControl()

void MBSim::TimeSteppingSSCIntegrator::setGapControl ( GapControl gapControl )

inline

Set Flag to optimise dt for minmal penetration of unilateral links; choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated with statistic calculations -1: gap control deactivated without statistic calculations

◆ setInitialStepSize()

void MBSim::TimeSteppingSSCIntegrator::setInitialStepSize ( double dt_ )

inline

Set initial step size

◆ setMaximumGain()

void MBSim::TimeSteppingSSCIntegrator::setMaximumGain ( double maxGain )

inline

Set maximal gain for increasing dt by stepsize control

◆ setMaximumOrder()

void MBSim::TimeSteppingSSCIntegrator::setMaximumOrder ( int maxOrder_ )

inline

set maximum order (1,2,3 (method=extrapolation) or 1 to 4 (method=embedded,embeddedHigherOrder) and without SSC maximum order from 1 to 4 is possible

◆ setMaximumStepSize()

void MBSim::TimeSteppingSSCIntegrator::setMaximumStepSize ( double dtMax_ )

inline

Set maximal step size

◆ setMethod()

void MBSim::TimeSteppingSSCIntegrator::setMethod ( Method method_ )

inline

set method extrapolation: SSC by extrapolation (recommended!!); embedded,embeddedHigherOrder: embedded SSC; proceed with maxOrder [1] (recommended if you don't want to use 0) or with maxOrder+1 [2]

◆ setMinimumStepSize()

void MBSim::TimeSteppingSSCIntegrator::setMinimumStepSize ( double dtMin_ )

inline

Set minimal step size (default 2*maxOrder*epsroot

◆ setOutputInterpolation()

void MBSim::TimeSteppingSSCIntegrator::setOutputInterpolation ( bool flag )

inline

Set Flag for output interpolation

◆ setSafetyFactor()

void MBSim::TimeSteppingSSCIntegrator::setSafetyFactor ( double sfactor )

inline

safety factor for stepsize estimation: dt = dt_estimate * safetyFactorSSC (]0;1]; default 0.6)

◆ subIntegrate()

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

overridevirtual

Reimplemented from MBSim::Integrator.

Member Data Documentation

◆ aTol

fmatvec::Vec MBSim::TimeSteppingSSCIntegrator::aTol

protected

Absolute Toleranz

◆ FlagErrorTest

int MBSim::TimeSteppingSSCIntegrator::FlagErrorTest {2}

protected

include (0) or exclude (3) variable u or scale (2) with stepsize for error test

◆ FlagErrorTestAlwaysValid

bool MBSim::TimeSteppingSSCIntegrator::FlagErrorTestAlwaysValid {true}

protected

FlagErrorTest is always valid or only during nonsmooth steps

◆ FlagOutputOnlyAtTPlot

bool MBSim::TimeSteppingSSCIntegrator::FlagOutputOnlyAtTPlot {false}

protected

Flag: write output info to cout only for plot-time-instances (default false)

◆ FlagPlotEveryStep

bool MBSim::TimeSteppingSSCIntegrator::FlagPlotEveryStep {false}

protected

every successful integration step is ploted (set dtPlot=0 to activate FlagPlotEveryStep) (default false)

◆ FlagSSC

bool MBSim::TimeSteppingSSCIntegrator::FlagSSC {true}

protected

activate step size control

◆ GapControlStrategy

GapControl MBSim::TimeSteppingSSCIntegrator::GapControlStrategy {biggestRoot}

protected

choose strategy for Gap Control (1:maximal Stepsize to 4:minimal Penetration) 1: uses biggest root (maximal dt) 2: score for all roots are evaluated 3: gapTol is used 4: uses smallest root (minimal penetration) 0: gap control deactivated

◆ gapTol

double MBSim::TimeSteppingSSCIntegrator::gapTol {1e-6}

protected

Toleranz for closing gaps

◆ maxGainSSC

double MBSim::TimeSteppingSSCIntegrator::maxGainSSC {2.2}

protected

maximal gain factor for increasing dt by stepsize control (default 2.5; maxGain * safetyFactor must be GT 1)

◆ maxOrder

int MBSim::TimeSteppingSSCIntegrator::maxOrder {1}

protected

maximum order of integration scheme SSC by extrapolation (steps with differnt dt are compared): 1, 2, 3
SSC with embedded methods (differnt orders are compared): 1 to 4 [ 1= 1(2), ... 4= 4(5) ] maxOrder(maxOrder+1)

◆ method

Method MBSim::TimeSteppingSSCIntegrator::method {extrapolation}

protected

method for intrgration and step size control method=extrapolation step size control by extrapolation (steps wit dt and dt/2 are compared) DEFAULT method=embedded embedded method for step size control (maxOrder and maxOrder+1 are compared); proceed with maxOrder (recommended) method=embeddedHigherOrder embedded method for SSC with -local extrapolation- (integration is continued with maxOrder+1)

◆ numThreads

int MBSim::TimeSteppingSSCIntegrator::numThreads {1}

protected

Number of Threads

◆ outputInterpolation

bool MBSim::TimeSteppingSSCIntegrator::outputInterpolation {false}

protected

Flag interpolate z and la for plotting (default false)

◆ rTol

fmatvec::Vec MBSim::TimeSteppingSSCIntegrator::rTol

protected

Relative Toleranz

◆ safetyFactorGapControl

double MBSim::TimeSteppingSSCIntegrator::safetyFactorGapControl {-1}

protected

Safety factor for GapControl (dtNew = dt_gapcontrol*safetyFactor; default min(1+RTol,1.001)

◆ safetyFactorSSC

double MBSim::TimeSteppingSSCIntegrator::safetyFactorSSC {0.7}

protected

safety factor for stepsize estimation: dt = dt_estimate * safetyFactorSSC (]0;1]; default 0.6)

◆ time

double MBSim::TimeSteppingSSCIntegrator::time {0}

protected

computaional time

◆ Timer

MBSim::StopWatch MBSim::TimeSteppingSSCIntegrator::Timer

protected

for internal use (start clock, integration info ...)

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~TimeSteppingSSCIntegrator()

Member Function Documentation

◆ getDataForGapControl()

◆ initializeUsingXML()

◆ integrate() [1/4]

◆ integrate() [2/4]

◆ integrate() [3/4]

◆ integrate() [4/4]

◆ postIntegrate()

◆ preIntegrate()

◆ setAlwaysValid()

◆ setDriftCompensation()

◆ setErrorTest()

◆ setFlagOutputOnlyAtTPlot()

◆ setGapControl()

◆ setInitialStepSize()

◆ setMaximumGain()

◆ setMaximumOrder()

◆ setMaximumStepSize()

◆ setMethod()

◆ setMinimumStepSize()

◆ setOutputInterpolation()

◆ setSafetyFactor()

◆ subIntegrate()

Member Data Documentation

◆ aTol

◆ FlagErrorTest

◆ FlagErrorTestAlwaysValid

◆ FlagOutputOnlyAtTPlot

◆ FlagPlotEveryStep

◆ FlagSSC

◆ GapControlStrategy

◆ gapTol

◆ maxGainSSC

◆ maxOrder

◆ method

◆ numThreads

◆ outputInterpolation

◆ rTol

◆ safetyFactorGapControl

◆ safetyFactorSSC

◆ time

◆ Timer