theta_time_stepping_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 _THETA_TIME_STEPPING_INTEGRATOR_H_
#define _THETA_TIME_STEPPING_INTEGRATOR_H_
 
#include "integrator.h"
 
namespace MBSim {
 
  class ThetaTimeSteppingIntegrator : public Integrator { 
    public:
      ~ThetaTimeSteppingIntegrator() 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 setTheta(double theta_ ) { theta  = theta_; }
      void setToleranceForPositionConstraints(double gMax_) { gMax = gMax_; }
      /***************************************************/
 
    private:
      void resize();
 
      double dt{1e-3};
 
      double theta{0.5};
 
      double t{0}, tPlot{0};
 
      int iter{0}, step{0}, integrationSteps{0}, maxIter{0}, sumIter{0};
 
      double s0{0}, time{0};
 
      int stepPlot{0};
 
      double gMax{-1};
  };
 
}
 
#endif /* _THETA_TIME_STEPPING_INTEGRATOR_H_ */