rksuite_integrator.h

/* Copyright (C) 2004-2009 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 _RKSUITE_INTEGRATOR_H_
#define _RKSUITE_INTEGRATOR_H_
 
#include "root_finding_integrator.h"
 
namespace MBSim {
 
  class RKSuiteIntegrator : public RootFindingIntegrator {
    public:
      enum Method {
        RK23=1,
        RK45,
        RK78,
        unknownMethod
      };
 
      virtual ~RKSuiteIntegrator() override;
 
      void preIntegrate() override;
      void subIntegrate(double tStop) override;
      void postIntegrate() override;
 
      /* GETTER / SETTER */
      void setMethod(Method method_) { method = method_; }
      void setRelativeTolerance(double rTol_) { rTol = rTol_; }
      void setThreshold(const fmatvec::Vec &thres_) { thres <<= thres_; }
      void setThreshold(double thres_) { thres.resize(1,fmatvec::INIT,thres_); }
      void setInitialStepSize(double dt0_) { dt0 = dt0_; }
      /***************************************************/
 
      /* INHERITED INTERFACE OF INTEGRATOR */
      using Integrator::integrate;
      void integrate() override;
      virtual void initializeUsingXML(xercesc::DOMElement *element) override;
      /***************************************************/
 
    private:
 
      static void fzdot(double* t, double* z_, double* zd_);
 
      int zSize;
      static RKSuiteIntegrator *selfStatic;
 
      Method method{RK45};
      fmatvec::Vec thres;
      double rTol{1e-6};
      double dt0{0};
 
      int lenwrk, messages{0}, integrationSteps{0}, lenint;
      double t{0}, tPlot{0}, s0{0}, time{0};
      double *work{nullptr};
      double *workint{nullptr};
      fmatvec::Vec z, zd, zMax, zWant, zdWant;
 
      std::exception_ptr exception;
  };
 
}
 
#endif