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File kernel/src/simulationTools/NewMarkAlphaOSI.hpp

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File kernel/src/simulationTools/NewMarkAlphaOSI.hpp#

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NewMark Alpha Scheme Time-Integrator for Dynamical Systems

class NewMarkAlphaOSI : public OneStepIntegrator
#include <NewMarkAlphaOSI.hpp>

NewMarkAlpha Scheme Time-Integrator for Dynamical Systems.

NewMarkAlphaOSI is used to solve constrained dynamical systems represented by index-3 DAE

NewMarkAlphaOSI is instantiated with values of beta, gamma, alpha_m, alpha_f and the list of concerned dynamical systems. Each DynamicalSystem is associated to a SiconosMatrix named “W”

W matrices are initialized and computed in initializeIterationMatrixW and computeW.

Public Types

enum NewMarkAlphaOSI_ds_workVector_id#

Values:

enumerator RESIDU_FREE#
enumerator FREE#
enumerator ACCE_LIKE#
enumerator ACCE_MEMORY#
enumerator WORK_LENGTH#
enum NewMarkAlphaOSI_interaction_workVector_id#

Values:

enumerator OSNSP_RHS#
enumerator WORK_INTERACTION_LENGTH#
enum NewMarkAlphaOSI_workBlockVector_id#

Values:

enumerator xfree#
enumerator BLOCK_WORK_LENGTH#
enum NewMarkAlphaOSI_interaction_workMat_id#

Values:

enumerator DENSE_OUTPUT_COEFFICIENTS#
enumerator MAT_WORK_LENGTH#

Public Functions

NewMarkAlphaOSI(double beta, double gamma, double alpha_m, double alpha_f, bool flag)

constructor with only parameters beta, gamma, alpha_m, alpha_f

Parameters:

  • beta – double

  • gamma – double

  • alpha_m – double

  • alpha_f – double

  • flag – true of working at velocity level

NewMarkAlphaOSI(double rho_infty, bool flag)

constructor with only the parameter rho_infty

Parameters:

  • rho_infty – double

  • flag – true of working at velocity level

inline virtual ~NewMarkAlphaOSI()

destructor

inline void setBeta(double beta)

set value to the parameter beta

Parameters:

beta – value of beta

inline void setGamma(double value_gamma)

set value to the parameter gamma

Parameters:

value_gamma – double : value of gamma

inline void setAlpha_m(double value_alpha_m)

set value to the parameter alpha_m

Parameters:

value_alpha_m – double : value of alpha_m

inline void setAlpha_f(double value_alpha_f)

set value to the parameter alpha_f

Parameters:

value_alpha_f – double : value of alpha_f

inline void setParametersFromRho_infty(double rho_infty)

set values to the parameters beta, gamma, alpha_f, alpha_m from the value of rho_infty

Parameters:

rho_infty – double : value of rho_infty

inline double getBeta()

get value of beta

Returns:

double

inline double getGamma()

get value of gamma

Returns:

double

inline double getAlpha_m()

get value of alpha_m

Returns:

double

inline double getAlpha_f()

get value of alpha_f

Returns:

double

inline unsigned int getOrderDenseOutput()

get the order of the polynomial for dense output

Returns:

unsigned int

inline void setFlagVelocityLevel(bool flag)

set the flag _IsVelocityLevel

Parameters:

flag – bool

inline bool getFlagVelocityLevel()

get the flag _IsVelocityLevel

Returns:

bool

const SimpleMatrix getW(SP::DynamicalSystem ds)

get matrix W

Parameters:

ds – SP::DynamicalSystem DynamicalSystem concerned

Returns:

SimpleMatrix

SP::SimpleMatrix W(SP::DynamicalSystem ds)

get pointer to the maxtrix W

Parameters:

ds – SP::DynamicalSystem DynamicalSystem concerned

Returns:

SP::SimpleMatrix

void initializeIterationMatrixW(SP::DynamicalSystem ds)

initialize W matrix

Parameters:

ds – a pointer to DynamicalSystem

void computeW(SP::DynamicalSystem ds, SiconosMatrix &W)

compute W matrix

Parameters:
virtual double computeResidu() override

compute the residual of dynamical equation

Returns:

double: maximum residu over all DSs

virtual void computeFreeState() override

compute the free state of the discretized dynamical system

virtual void computeFreeOutput(InteractionsGraph::VDescriptor &vertex_inter, OneStepNSProblem *osnsp) override

integrates the Interaction linked to this integrator, without taking non-smooth effects into account

Parameters:

  • vertex_inter – of the interaction graph

  • osnsp – pointer to OneStepNSProblem

inline virtual SiconosVector &osnsp_rhs(InteractionsGraph::VDescriptor &vertex_inter, InteractionsGraph &indexSet) override

return the workVector corresponding to the right hand side of the OneStepNonsmooth problem

virtual void initializeWorkVectorsForDS(double t, SP::DynamicalSystem ds) override

initialize

initialization of the work vectors and matrices (properties) related to one dynamical system on the graph and needed by the osi

Parameters:

  • t – time of initialization

  • ds – the dynamical system

virtual void initializeWorkVectorsForInteraction(Interaction &inter, InteractionProperties &interProp, DynamicalSystemsGraph &DSG) override

initialization of the work vectors and matrices (properties) related to one interaction on the graph and needed by the osi

Parameters:

  • inter – the interaction

  • interProp – the properties on the graph

  • DSG – the dynamical systems graph

inline virtual unsigned int numberOfIndexSets() const override

get the number of index sets required for the simulation

Returns:

unsigned int

virtual void prepareNewtonIteration(double time) override

prepare for Newton Iteration

Parameters:

time –

void prediction()

predict first values for the Newton iteration

void correction()

correct state of all levels of Dynamical Systems after each Newton iteration

virtual void integrate(double &tinit, double &tend, double &tout, int &flag) override

integrate the system, between tinit and tend with possible stop at tout

Parameters:

  • tinit – double: tinit, initial time

  • tend – double: tend, end time

  • tout – double: tout, real end time

  • flag – useless for NewMarkAlphaOSI

virtual void updateState(const unsigned int level) override

updates the state of the Dynamical Systems

Parameters:

level – the level of interest for the dynamics: not used at the time

void computeCoefsDenseOutput(SP::DynamicalSystem ds)

Compute coefficients of the polynomial of the dense output for a given DS.

Parameters:

ds – SP::DynamicalSystem, ds concerned

void prepareEventLocalization()

prepare for Event localization

void DenseOutputallDSs(double time)

Generate dense output for all Dynamical Systems belonging to OSI.

Parameters:

time – at which we want to generate the dense output

virtual void display() override

Displays the data of the NewMarkAlpha’s integrator.

ACCEPT_STD_VISITORS()#

Protected Functions

ACCEPT_SERIALIZATION(NewMarkAlphaOSI)#
inline NewMarkAlphaOSI()#

Default constructor.

Protected Attributes

double _beta#

Parameters of the numerical scheme: beta, gamma, alpha_m, alpha_f.

double _gamma#
double _alpha_m#
double _alpha_f#
unsigned int _orderDenseOutput#

Order of the polynomial for dense output.

bool _IsVelocityLevel#

Indicator whether or not constraints at the velocity level are handled _IsVelocityLevel = true: constraints at the velocity level are handled _IsVelocityLevel = false: constraints at the position are handled.

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