mbs_euler_explicit.h File Reference

This header defines global functions for Euler Explicit integrator in C. More...

#include "mbs_project_interface.h"

Go to the source code of this file.

Classes
struct	MbsDirdynEulerEx
	Euler Explicit structure for dirdyn. More...

Macros
#define	P_INF_VALUE   0.143

Typedefs
typedef void(*	euler_integrator_implementation) (double h, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	This pointer is used to choose between the two implementations of euler. More...

Functions
void	initialize_eulerEx (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 Euler Explicit integrator. More...
int	loop_eulerEx (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Integrate the motion from t0 to tf. More...
void	finish_eulerEx (MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Finalize and clear memory allocated for Euler Explicit integrator. More...
void	euler_explicit (double h, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Source code for the Euler Explicit integration. More...
void	eulaire (double h, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Source code for unknown integrator but based partially on euler explicit We call it Eulaire. More...
void	alpha_method (double h, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Source code for a simplified alpha-method We call it AlphaM. More...
void	error_eulerEx (MbsData *mbs_data, MbsDirdyn *dd, int err)
	If an error occurs during time integration, this function prints the error message and call finish_eulerEx. More...

Detailed Description

This header defines global functions for Euler Explicit integrator in C.

Creation date: May 2018

Author

Sebastien Timmermans

(c) Universite catholique de Louvain

Macro Definition Documentation

P_INF_VALUE

#define P_INF_VALUE   0.143

Typedef Documentation

euler_integrator_implementation

typedef void(* euler_integrator_implementation) (double h, MbsData *mbs_data, MbsDirdyn *mbs_dd)

This pointer is used to choose between the two implementations of euler.

Function Documentation

alpha_method()

void alpha_method	(	double	h,
		MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Source code for a simplified alpha-method We call it AlphaM.

Reference : Chen, Qiong-zhong and Acary, Vincent and Virlez, Geoffrey and Bruls, Olivier. (2013). A nonsmooth generalized-alpha scheme for flexible multibody systems with unilateral constraints. International Journal for Numerical Methods in Engineering. 96. 487-511. 10.1002/nme.4563.

Parameters

h	The integration step size
mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

error_eulerEx()

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

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

Parameters

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

eulaire()

void eulaire	(	double	h,
		MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Source code for unknown integrator but based partially on euler explicit We call it Eulaire.

Parameters

h	The integration step size
mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

euler_explicit()

void euler_explicit	(	double	h,
		MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Source code for the Euler Explicit integration.

Parameters

h	The integration step size
mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

finish_eulerEx()

void finish_eulerEx	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Finalize and clear memory allocated for Euler Explicit integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

initialize_eulerEx()

void initialize_eulerEx	(	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 Euler Explicit 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_eulerEx()

int loop_eulerEx	(	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.

user loop

user loop