root_finding_integrator.h

/* Copyright (C) 2004-2018  Martin Förg
 
 * 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 _ROOT_FINDING_INTEGRATOR_H_
#define _ROOT_FINDING_INTEGRATOR_H_
 
#include "integrator.h"
 
namespace MBSim {
 
  class RootFindingIntegrator : public Integrator {
 
    protected:
 
      // Helper function to check if svLast and svStepEnd has a sign change in any element.
      bool signChangedWRTsvLast(const fmatvec::Vec &svStepEnd) const;
 
      double dtRoot{1e-10};
 
      bool plotOnRoot{false};
 
      double gMax{-1};
      double gdMax{-1};
 
      fmatvec::Vec svLast;
      bool shift{false};
 
    public:
 
      void setRootFindingAccuracy(double dtRoot_) { dtRoot = dtRoot_; }
 
      void setPlotOnRoot(bool b) { plotOnRoot = b; }
 
      void setToleranceForPositionConstraints(double gMax_) { gMax = gMax_; }
 
      void setToleranceForVelocityConstraints(double gdMax_) { gdMax = gdMax_; }
 
      double getToleranceForPositionConstraints() { return gMax; }
 
      double getToleranceForVelocityConstraints() { return gdMax; }
 
      virtual void initializeUsingXML(xercesc::DOMElement *element);
  };
 
}
 
#endif