mbs_dopri5.c File Reference

This file implements the functions of the dopri5 integrator in C. More...

#include "dopri5.h"
#include "mbs_dopri5.h"
#include "mbs_1D_array.h"
#include "mbs_dirdyn_struct.h"

Functions
void	initialize_dopri5 (MbsData *mbs_data, MbsDirdyn *mbs_dd, int(*derivs)(double, double[], double[], MbsData *, MbsDirdyn *), void(*loop_fct)(MbsData *, MbsDirdyn *), int(*save_realtime_update)(MbsDirdyn *dd, MbsData *mbs_data))
	Initialize all needed fields in MbsDirdyn for Dopri5 integrator. More...
int	loop_dopri5 (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Integrate the motion from t0 to tf. More...
void	finish_dopri5 (MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Finalize and clear memory allocated for dopri5 integrator. More...
int	fcn_dopri5 (unsigned int n, long nr, double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *mbs_dd)
	dopri5 derivative function More...
int	solout_dopri5 (long nr, double tsim_old, double tsim, double y[], unsigned n, int *irtrn, int init_flag, MbsData *s, MbsDirdyn *mbs_dd)
	dopri5 simulation own gestion at each succesful step More...
void	error_dopri5 (MbsData *mbs_data, MbsDirdyn *dd, int err)
	If an error occurs during time integration, this function prints the error message and call finish_dopri5. More...

Detailed Description

This file implements the functions of the dopri5 integrator in C.

Creation date: September 2015

Author

Nicolas Van der Noot

Modification date: April 2018 \modified by Sebastien Timmermans

(c) Universite catholique de Louvain

Function Documentation

error_dopri5()

void error_dopri5	(	MbsData *	mbs_data,
		MbsDirdyn *	dd,
		int	err
	)

If an error occurs during time integration, this function prints the error message and call finish_dopri5.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure
err	The error number

fcn_dopri5()

int fcn_dopri5	(	unsigned int	n,
		long	nr,
		double	tsim,
		double	y[],
		double	dydt[],
		MbsData *	s,
		MbsDirdyn *	mbs_dd
	)

dopri5 derivative function

Parameters

[in]	n	dimension of the system [-]
[in]	nr	solour iteration [-]
[in]	tsim	current simulation time [s]
[in]	y	state vector of size n
[out]	dydt	derivative of state vector y
[in,out]	s	Robotran main structure
[in,out]	mbs_dd	direct dynamic main module structure

Returns

Error status, <0 in case of failure.

finish_dopri5()

void finish_dopri5	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Finalize and clear memory allocated for dopri5 integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

initialize_dopri5()

void initialize_dopri5	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd,
		int(*)(double, double[], double[], MbsData *, MbsDirdyn *)	derivs,
		void(*)(MbsData *, MbsDirdyn *)	loop_fct,
		int(*)(MbsDirdyn *dd, MbsData *mbs_data)	save_realtime_update
	)

Initialize all needed fields in MbsDirdyn for Dopri5 integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure
derivs	The function computing f'
loop_fct	The function to be called at the end of each time step, or waypoints.

loop_dopri5()

int loop_dopri5	(	double	t0,
		double	tf,
		MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Integrate the motion from t0 to tf.

Parameters

t0	The initial time
tf	The final time
mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

Returns

Error status, <0 in case of failure.

solout_dopri5()

int solout_dopri5	(	long	nr,
		double	tsim_old,
		double	tsim,
		double	y[],
		unsigned	n,
		int *	irtrn,
		int	init_flag,
		MbsData *	s,
		MbsDirdyn *	mbs_dd
	)

dopri5 simulation own gestion at each succesful step

Parameters

[in]	nr	solour iteration [-]
[in]	tsim_old	last time solout was called [s]
[in]	tsim	current simulation time [s]
[in]	y	state vector of size n
[in]	n	dimension of the system [-]
[out]	irtrn	set a negative value to stop the simulation
[in]	init_flag	1 if initial call to solout, 0 otherwise
[in,out]	s	Robotran main structure
[in,out]	mbs_dd	direct dynamic main module structure

Returns

Error status, <0 in case of failure.