File kernel/src/simulationTools/EventDriven.hpp

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Event Driven Simulation

class EventDriven : public Simulation

#include <EventDriven.hpp>

Simulation based on event driven method, ie events detection (see theoretical manual for more details).

WARNING: at the time only written for Lagrangian systems !!!

Public Functions

EventDriven(SP::NonSmoothDynamicalSystem nsds, SP::TimeDiscretisation td)

defaut constructor

Parameters:

• nsds – current nonsmooth dynamical system

• td – time discretisation

EventDriven(SP::NonSmoothDynamicalSystem nsds, SP::TimeDiscretisation td, int nb)

constructor with data

Parameters:

• nsds – current nonsmooth dynamical system

• td – time discretisation

• nb – number of NSProblem

inline EventDriven()

defaut constructor (needed for serialization)

~EventDriven() noexcept = default

destructor

virtual void initialize() override

Overload Simulation::initialize.

virtual void firstInitialize() override

First (and unique) run of initialization step.

inline void setIstate(int newValue)

Set value to _istate.

Parameters:

newValue –

inline double istate()

Get value of _istate.

Returns:

_istate a double

inline void setToleranceED(double var)

Set value to _TOL_ED.

Parameters:

var – the new tolerance

inline double toleranceED()

Get value of _epsilon.

Returns:

double

inline bool isNewtonConverge()

To know if Newton Iteratio is convergent.

Returns:

_isNewtonConverge

inline unsigned int getNewtonNbIterations()

To known the number of steps performed by the Newton algorithm.

Returns:

_newtonNbIterations

inline void setNewtonMaxIteration(unsigned int maxStep)

Set value to the maximum number of iterations.

Parameters:

maxStep – maximum number of step

inline void setLocalizeEventsMaxIteration(unsigned int maxIter)

To set maximum number of iterations to localize events.

Parameters:

maxIter – maximum number of iterations

inline double newtonMaxIteration()

get the maximum number of Newton iteration

Returns:

unsigned int

inline unsigned int LocalizeEventsMaxIteration()

get the maximum number of iterations to localize events

Returns:

unsigned int: maximum number of iterations

inline double newtonResiduDSMax()

accessor to _newtonResiduDSMax

Returns:

double _newtonResiduDSMax

inline double newtonResiduYMax()

accessor to _newtonResiduYMax

Returns:

double _newtonResiduYMax

inline void setNewtonTolerance(double tol)

set the Default Newton tolerance

Parameters:

tol – new tolerance

inline double newtonTolerance()

get the Newton tolerance

Returns:

tolerance

virtual void insertIntegrator(SP::OneStepIntegrator) override

Redefine method insertIntegrator of the class Simulation.

virtual void updateIndexSet(unsigned int i) override

update indexSets[i] of the topology, using current y and lambda values of Interactions.

Parameters:

i – the number of the set to be updated

void updateIndexSetsWithDoubleCondition()

update indexSets[1] and [2] (using current y and lambda values of Interactions) with conditions on y[2] AND lambda[2].

void computef(OneStepIntegrator &osi, integer *sizeOfX, doublereal *time, doublereal *x, doublereal *xdot)

compute right-hand side of xdot = f(x,t), for the integrator osi.

Parameters:

• osi – the integrator (Lsodar)

• sizeOfX – size of vector x

• time – current time given by the integrator

• x – state vector

• xdot – derivative of x

void computeJacobianfx(OneStepIntegrator &osi, integer *sizeOfX, doublereal *time, doublereal *x, doublereal *jacob)

compute jacobian of the right-hand side

Parameters:

• osi – the integrator (Lsodar)

• sizeOfX – size of vector x

• time – current time given by the integrator

• x – state vector

• jacob – jacobian of f according to x

virtual unsigned int computeSizeOfg()

compute the size of constraint function g(x,t,…) for osi

Returns:

unsigned int

virtual void computeg(SP::OneStepIntegrator osi, integer *sizeX, doublereal *time, doublereal *x, integer *sizeG, doublereal *g)

compute constraint function g(x,t,…) for osi.

Parameters:

• osi – pointer to OneStepIntegrator.

• sizeX – integer*, size of vector x

• time – doublereal*, time

• x – doublereal*, x:array of double

• sizeG – integer*, size of vector g (ie number of constraints)

• g – doublereal*, g (in-out parameter)

void updateImpactState()

update input for impact case (ie compute p[1])

void updateSmoothState()

update state for smooth dynamic case (i.e.

compute p[2] and update acceleration)

inline virtual void updateInput(unsigned int level) override

update input

Parameters:

level – of lambda used to compute input

virtual void updateState(unsigned int level) override

update state.

Parameters:

level – of lambda used to compute input

virtual void updateOutput(unsigned int level) override

update output and indexSets.

Parameters:

level – of lambda used to compute input

virtual void advanceToEvent() override

run simulation from one Event to the next, according to events manager settings.

double computeResiduConstraints()

Methods for NewMarkAlphaOSI scheme.

compute maximum residu over all gap functions of Index2 contacts

Returns:

double: maximum residu for all gap functions

void prepareNewtonIteration()

prepare for Newton iterations for all OSIs

Returns:

maximum residu over all DSs

bool newtonCheckConvergence(double)

Check convergence of Newton iteration.

Returns:

bool: true if convergent, false otherwise

void predictionNewtonIteration()

Predict the state of all Dynamical Systems before Newton iterations.

void correctionNewtonIteration()

Correct the state of all Dynamical Systems during Newton iterations.

void newtonSolve(double criterion, unsigned int maxStep)

Newton iteration to get the state of all Dynamical Systems at the end of step.

Parameters:

• criterion – tolerance to check convergence

• maxStep – maximum number of steps

double detectEvents(bool updateIstate = true)

Detect whether or not events occur during each integration step.

Parameters:

updateIstate – true if we need to update the flag _istate, false otherwise

Returns:

double, maximum of absolute values of constraint fonctions over all activated ot deactivated contacts

void LocalizeFirstEvent()

Localize time of the first event.

ACCEPT_STD_VISITORS()

Protected Attributes

bool _isNewtonConverge

boolean variable to known whether Newton iterations converges or not

unsigned int _newtonMaxIteration

Default maximum number of Newton iteration.

unsigned int _newtonNbIterations

Number of steps performed is the Newton Loop.

double _newtonResiduDSMax

Maximum Residual for the Dynamical system.

double _newtonResiduYMax

Maximum Residual for the output of the relation.

double _newtonTolerance

Tolerance to check Newton iteration convergence.

unsigned int _localizeEventMaxIter

Maximum number of iterations to localize events.

unsigned int _numberOfOneStepNSproblems

number of OneStepNSProblems considered in the simulation

SP::InteractionsGraph _indexSet0

store the indexSet0 for performance reason (Lsodar)

SP::DynamicalSystemsGraph _DSG0

store the graph of DynamicalSystems for performance reason (Lsodar)

Protected Static Attributes

static double _TOL_ED

an epsilon to define the contraint g for Interaction in IndexSet[1]

Private Functions

ACCEPT_SERIALIZATION(EventDriven)

virtual void initializeOneStepNSProblem() override

initialisation for OneStepNSProblem.

void initOSIs()

Initialize OneStepIntergrators.

void initOSIRhs()

Initialize the Rhs of the OSI.

Private Members

int _istate

flag used in DLSODAR - As input: 1 if first call, else 2 As output: 2 if no root found, else 3