theta_time_stepping_ssc_integrator.h

/* Copyright (C) 2004-2012 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: jan.p.clauberg@googlemail.com
 */
 
#ifndef _THETA_TIME_STEPPING_SSC_INTEGRATOR_H_ 
#define _THETA_TIME_STEPPING_SSC_INTEGRATOR_H_
 
#include "integrator.h"
 
namespace MBSim {
 
  class ThetaTimeSteppingSSCIntegrator : public Integrator { 
    public:
      ThetaTimeSteppingSSCIntegrator();
 
      virtual ~ThetaTimeSteppingSSCIntegrator() {}
 
      /* INHERITED INTERFACE OF INTEGRATOR */
      using Integrator::integrate;
      void integrate();
      virtual void initializeUsingXML(xercesc::DOMElement *element);
      /***************************************************/
 
      /* GETTER / SETTER */
      void setStepSize(double dt_) { dt = dt_; }
      void setTheta(double theta_ ) { theta  = theta_; }
      void setDriftCompensation(bool dc) { driftCompensation = dc; }
      /***************************************************/
 
      void update(const fmatvec::Vec& z, double t);
 
      void preIntegrate();
      
      void subIntegrate(double tStop);
      void postIntegrate();
 
    private:
      double dt;
 
      double theta;
 
      double t, tPlot;
 
      int iter,step, integrationSteps, maxIter, sumIter;
 
      double s0, time;
 
      int stepPlot;
 
      fmatvec::Vec z, q, u, x;
 
      std::ofstream integPlot;
 
      bool driftCompensation;    
  };
 
}
 
#endif /* _THETA_TIME_STEPPING_SSC_INTEGRATOR_H_ */