Siconos
4.2.0
Sources on github
Index
Documentation
Quickstart
What is Siconos?
Try it
Siconos usage in a few steps
More
Modeling Principle
Python interface : tutorials
Collections of rigid bodies with Bullet based contact detection (Siconos/Mechanics)
Description of the physical problems : rigid bodies collection with contact and Coulomb friction
Tutorial: A 4-diodes bridge wave rectifier
Preamble
Siconos driver file
Building a nonsmooth dynamical system
Modeling the dynamics
Modeling the interactions
Describing the simulation of the nonsmooth dynamical system
Leading the Simulation Process
Siconos tutorials in C++
Bouncing Ball
Tutorial : a column of three beads
Building the Non-Smooth Dynamical System
The Simulation
Time-Stepping scheme
Event-Driven algorithm
Simulation Process
Time-Stepping
Event-Driven
Results
Gene regulatory networks
Slider Crank
Usage
Simulation of an electrical oscillator supplying a resistor through a half-wave rectifier
Description of the physical problem : electrical oscillator with half-wave rectifier
Definition of a general abstract class of NSDS : the linear time invariant complementarity system (LCS)
Dynamical system and Boundary conditions
Relation between constrained variables and state variables
Definition of the Non Smooth Law between constrained variables
The formalization of the electrical oscillator with half-wave rectifier into the LCS
Dynamical equation
Relations
Non Smooth laws
Description of the numerical simulation: the Moreau’s time-stepping scheme
Time discretization of the dynamical system
Time discretization of the relations
Time discretization of the non-smooth law
Summary of the time discretized equations
Numerical simulation
Comparison with numerical results coming from SPICE models and algorithms
Characteristic of the diode in the SPICE model
Simulation results
Running a simulation
Basics
Plugins mechanism
Extra source files
C++ Refresher
Building/destroying and using objects
Members/Methods access
Matrices and vectors handling
Read/write vectors and matrices from/to file
Methods and operations on matrices and vectors
About efficiency
Download and install
Download Siconos
Latest source release
Development sources
Binaries
Build and install
Overview
Installation from sources
Prerequisites
The quick way
Detailed installation
Siconos package description
Running siconos tests
What will be installed?
Remark
CMake options
Most common options
Developers or advanced users options
User-defined option file
Test your installation
Binaries installation
Siconos required and optional dependencies
About blas and Lapack
About Boost
GMP
Browse examples
Gallery
API reference
Siconos C/C++ API reference
Class diagrams (UML view)
Externals component
Classes and structs
Files documentation
Numerics component
Classes and structs
Files documentation
Kernel component
Classes and structs
Files documentation
Control component
Classes and structs
Files documentation
Mechanics component
Classes and structs
Files documentation
Io component
Classes and structs
Files documentation
Siconos Python API reference
siconos.numerics
siconos.kernel
siconos.control.observer
siconos.control.sensor
siconos.control.controller
siconos.mechanics.joints
siconos.control.simulation
siconos.mechanics.collision.native
siconos.mechanics.collision.base
siconos.mechanics.collision.bodies
siconos.io.io_base
Full documentation
Getting and installing siconos software
Build and install
Overview
Installation from sources
Prerequisites
The quick way
Detailed installation
Siconos package description
Running siconos tests
What will be installed?
Remark
CMake options
Most common options
Developers or advanced users options
User-defined option file
Test your installation
Binaries installation
Siconos Quickstart
Quickstart
What is Siconos?
Try it
Siconos usage in a few steps
More
Modeling Principle
Python interface : tutorials
Collections of rigid bodies with Bullet based contact detection (Siconos/Mechanics)
Description of the physical problems : rigid bodies collection with contact and Coulomb friction
Tutorial: A 4-diodes bridge wave rectifier
Preamble
Siconos driver file
Building a nonsmooth dynamical system
Modeling the dynamics
Modeling the interactions
Describing the simulation of the nonsmooth dynamical system
Leading the Simulation Process
Siconos tutorials in C++
Bouncing Ball
Tutorial : a column of three beads
Building the Non-Smooth Dynamical System
The Simulation
Time-Stepping scheme
Event-Driven algorithm
Simulation Process
Time-Stepping
Event-Driven
Results
Gene regulatory networks
Slider Crank
Usage
Simulation of an electrical oscillator supplying a resistor through a half-wave rectifier
Description of the physical problem : electrical oscillator with half-wave rectifier
Definition of a general abstract class of NSDS : the linear time invariant complementarity system (LCS)
Dynamical system and Boundary conditions
Relation between constrained variables and state variables
Definition of the Non Smooth Law between constrained variables
The formalization of the electrical oscillator with half-wave rectifier into the LCS
Dynamical equation
Relations
Non Smooth laws
Description of the numerical simulation: the Moreau’s time-stepping scheme
Time discretization of the dynamical system
Time discretization of the relations
Time discretization of the non-smooth law
Summary of the time discretized equations
Numerical simulation
Comparison with numerical results coming from SPICE models and algorithms
Characteristic of the diode in the SPICE model
Simulation results
Running a simulation
Basics
Plugins mechanism
Extra source files
C++ Refresher
Building/destroying and using objects
Members/Methods access
Matrices and vectors handling
Read/write vectors and matrices from/to file
Methods and operations on matrices and vectors
About efficiency
Users’ guide
Users guide
Linear Algebra in Siconos
Vectors
Matrices
Notes about SimpleMatrix
Matrix Storage in numerics component
Modeling of non-smooth dynamical systems
Dynamical Systems
Overview
Common interface
First order dynamical systems
Non linear
Linear
Linear and time-invariant
Second order (Lagrangian) systems
Non linear
Linear and time-invariant
Dynamical Systems plug-in functions
Interactions between dynamical systems
Relations
First Order Relations
Non Linear
Linear
Linear with Time Invariant Coefficients
Lagrangian (second order) Relations
Scleronomous
Rheonomous
Compliant
Linear and Time Invariant Coefficients
Relations plug-in functions
Non Smooth Laws
Complementarity Condition
Newton Impact
Newton Impact-Friction
Relay
User-defined plugins
Plugins overview
Example
Simulation of non-smooth dynamical systems
Event-Capturing schemes
General Principle
First order systems
Time Discretisation of the Dynamics
First Order Non Linear Systems
First Order Linear Systems
First Order Linear Systems with time invariant coefficients
Time discretization of the relations
First Order (non-linear) Relations
First Order Linear Relations
Discretisation of the non-smooth law
Complementarity Condition
Lagrangian systems
Time Discretisation of the Dynamics
Lagrangian (second order) Non Linear Systems
Lagrangian (second order) Linear Systems with Time Invariant coefficients
Time discretization of the relations
Lagrangian Scleronomous Relations
Lagrangian Rheonomous Relations
Lagrangian Compliant Relations
Lagrangian Linear Relations
Time discretization of the Non Smooth laws
Summary of the time discretized equations
First order systems
Lagrangian second-order systems
Event-Driven schemes
General Principle
Event Driven implementation
Integration of the smooth dynamics
Events
The Events manager
The Simulation process
Event Driven algorithm for Lagrangian systems
The impact equations
The smooth Dynamics
The algorithm
Implementation in Siconos
Time discretisation
Time integration of the dynamics
Nonsmooth problems formulation and solve
Linear nonsmooth problems
The Simulation process
Customize simulation behavior
Solvers definition (numerics)
LCP solvers
lexicographic Lemke
QP Solver
NSQP Solver
CPG Solver
PGS Solver
RPGS Solver
PSOR Solver
NewtonMin Solver
NewtonFB Solver
Newton min + FB Solver
Path (Ferris) Solver
Enumerative Solver
Latin Solver
Latin_w Solver
Block solver (Gauss Seidel)
Friction-Contact solvers
2D solvers
CPG
3D solvers
Non-Smooth Gauss Seidel
Nonsmooth problems formulations and available solvers
Affine Variational Inequalities (AVI)
ConvexQP
Friction-contact problems (2D or 3D)
Global-Friction-contact problems (2D or 3D)
Linear Complementarity problems (LCP)
Mixed (Non Linear) Complementarity problem (MCP)
Mixed Linear Complementarity Problems (MLCP)
Mixed Linear Complementarity Problems Solvers
Nonlinear Complementarity Problems (NCP)
Quadratic Programming problems (QP)
Relay or box-constrained AVI problems
Second Order Cone Linear Complementarity Problem
Variational Inequality (VI)
Control Toolbox
Control Manager
Sensors
Actuators
Event-Capturing schemes
General Principle
First order systems
Time Discretisation of the Dynamics
First Order Non Linear Systems
First Order Linear Systems
First Order Linear Systems with time invariant coefficients
Time discretization of the relations
First Order (non-linear) Relations
First Order Linear Relations
Discretisation of the non-smooth law
Complementarity Condition
Lagrangian systems
Time Discretisation of the Dynamics
Lagrangian (second order) Non Linear Systems
Lagrangian (second order) Linear Systems with Time Invariant coefficients
Time discretization of the relations
Lagrangian Scleronomous Relations
Lagrangian Rheonomous Relations
Lagrangian Compliant Relations
Lagrangian Linear Relations
Time discretization of the Non Smooth laws
Summary of the time discretized equations
First order systems
Lagrangian second-order systems
Event-Driven schemes
General Principle
Event Driven implementation
Integration of the smooth dynamics
Events
The Events manager
The Simulation process
Event Driven algorithm for Lagrangian systems
The impact equations
The smooth Dynamics
The algorithm
Implementation in Siconos
Browse examples
Gallery
Siconos API
API reference
Siconos C/C++ API reference
Class diagrams (UML view)
Externals component
Classes and structs
Files documentation
Numerics component
Classes and structs
Files documentation
Kernel component
Classes and structs
Files documentation
Control component
Classes and structs
Files documentation
Mechanics component
Classes and structs
Files documentation
Io component
Classes and structs
Files documentation
Siconos Python API reference
siconos.numerics
siconos.kernel
siconos.control.observer
siconos.control.sensor
siconos.control.controller
siconos.mechanics.joints
siconos.control.simulation
siconos.mechanics.collision.native
siconos.mechanics.collision.base
siconos.mechanics.collision.bodies
siconos.io.io_base
Developpers’ corner
Developer guide
Writing and building documention for Siconos Software
Documentation overview
How to write Siconos documentation
Writing textbooks
Document source code
References to sphinx documents
Math and latex
Building process
Tools, config and description
Dependencies
More about Doxygen to sphinx rst
Time integration of the dynamics - Exact scheme
Summary
Detailed calculations
Taylor expansions
Non-smooth problem formulation
Continuous integration for Siconos project
How to add and test a new continuous integration task for Siconos project
What is a “Continuous integration task”?
Create a task
Options sent by driver
Available ci targets
About plugins in classes
Rules
Example/template
OneStepNSProblem formalisation for several interactions
LinearDS - Linear Time Invariant Relations
Todo List
Test doxygen/sphinx links
More about Siconos project
Talks and Presentations
Posters
Slides (in chronological order)
Related Projects and Platforms
Bibliography
Index
License
« Tutorial: A 4...
Bouncing Ball »
Siconos tutorials in C++
¶
Check the
Browse examples
and examples marked as tutorial …
Bouncing Ball
Tutorial : a column of three beads
Building the Non-Smooth Dynamical System
The Simulation
Time-Stepping scheme
Event-Driven algorithm
Simulation Process
Time-Stepping
Event-Driven
Results
Gene regulatory networks
Slider Crank
Usage