mbs_euler_implicit.h

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 #ifndef MBS_EULERIM_H_INCLUDED
#define MBS_EULERIM_H_INCLUDED
 
#include "mbs_data.h"
#include "integrator.h"
#include "mbs_dirdyn.h"
#include "useful_functions.h"
#include "mbs_dirdyn_struct.h"
#include "mbs_project_interface.h"
#include "MBSfun.h"
#include "nrfct.h"
 
typedef struct MbsDirdynEulerIm
{
   double **dfdy; // matrix of derivatives of f by y [nxn]
   double *dfdx; // vector of derivatives of f by x [1xn]
   double *ysav; // vector save y from previous step [1xn]
   double *dysav; // vector save dy from previous step [1xn]
 
   double *delta_p;    // to store delta p [1xnqu]
   double *delta_v;    // to store delta v [1xnqu]
 
   double **A;    // left side of the equation [nquxnqu]
   double *B;    // right side of the equation [1xnqu]
   double *jpxv; // useful vector to store Jnp * xv [1xnqu]
 
   int *indx;    // index for LU decomp and system resolution
 
   // To freeze jacobian
   double *Freeze_dydx, *Freeze_dfdx, **Freeze_dfdy;
   int Freeze_jacobian_index;
 
} MbsDirdynEulerIm;
 
void initialize_euler_implicit(MbsData *mbs_data, MbsDirdyn *mbs_dd);
 
int loop_euler_implicit(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd);
 
void finish_euler_implicit(MbsData *mbs_data, MbsDirdyn *mbs_dd);
 
void error_euler_implicit(MbsData *mbs_data, MbsDirdyn *dd, int err);
 
#endif // MBS_EULERIM_H_INCLUDED