quasi_static_integrator.h

/* Copyright (C) 2004-2010 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@googlemail.com
 */
 
#ifndef _QUASI_STATIC_INTEGRATOR_H_
#define _QUASI_STATIC_INTEGRATOR_H_
 
#include "integrator.h"
#include "mbsim/functions/function.h"
#include<mbsim/dynamic_system_solver.h>
 
namespace MBSim {
 
  class hgFun : public MBSim::Function<fmatvec::Vec(fmatvec::Vec)> {
    public:
      hgFun(MBSim::DynamicSystemSolver* sys_) :
          sys(sys_), t(0) {
      }
 
      ~hgFun() override = default;
      ;
 
      /* INHERITED INTERFACE */
      fmatvec::Vec operator()(const fmatvec::Vec& qla) override;
 
      void setT(double t) {
        this->t = t;
      }
 
      /*******************************************************/
 
    private:
 
      MBSim::DynamicSystemSolver* sys;
      double t;
 
  };
 
  class jacFun : public MBSim::Function<fmatvec::SqrMat(fmatvec::Vec)> {
    public:
      jacFun(MBSim::DynamicSystemSolver* sys_, double t_, fmatvec::Vec& z_) :
          sys(sys_), t(t_), z(z_) {
      }
 
      ~jacFun() override = default;
      ;
 
      /* INHERITED INTERFACE */
      fmatvec::SqrMat operator()(const fmatvec::Vec& q) override;
      /*******************************************************/
 
    private:
 
      MBSim::DynamicSystemSolver* sys;
      double t;
      fmatvec::Vec z;
 
  };
  class QuasiStaticIntegrator : public Integrator {
    public:
      QuasiStaticIntegrator();
 
      ~QuasiStaticIntegrator() override = default;
 
      void preIntegrate() override;
      void subIntegrate(double tStop) override;
      void postIntegrate() override;
 
      /* INHERITED INTERFACE OF INTEGRATOR */
      using Integrator::integrate;
      void integrate() override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setStepSize(double dt_) {
        dt = dt_;
      }
      void setgTolerance(double tolerance_) {
        gTol = tolerance_;
      }
      void sethTolerance(double tolerance_) {
        hTol = tolerance_;
      }
      void setmaxExtraPolate(int value) {
        maxExtraPolate = value;
      }
      void setextraPolateAfter(int value) {
        extraPolateAfter = value;
      }
      void setupdateJacobianEvery(int value) {
        updateJacobianEvery = value;
      }
      /***************************************************/
 
    private:
      double dt{1e-3};
 
      double t{0.}, tPlot{0.};
 
      double gTol{1e-10};
 
      double hTol{1e-10};
 
      int iter{0}, step{0}, integrationSteps{0}, maxIter{0}, sumIter{0};
 
      int maxExtraPolate{0};
 
      int extraPolateAfter{2};
 
      int updateJacobianEvery{1};
 
      double s0{0.}, time{0.};
 
      int stepPlot{0};
 
      fmatvec::Vec z, q, u, x;
  };
 
}
 
#endif /* _QUASI_STATIC_INTEGRATOR_H_ */