mbs_rk4.c File Reference

This file implements the functions of the Runge Kutta order 4 integration method in C. More...

#include <math.h>
#include "mbs_rk4.h"
#include "integrator.h"
#include "mbs_message.h"
#include "mbs_1D_array.h"
#include "mbs_dirdyn_struct.h"

Functions
void	initialize_rk4 (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 RK4 integrator. More...
int	loop_rk4 (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Integrate the motion from t0 to tf. More...
void	finish_rk4 (MbsData *mbs_data, MbsDirdyn *dd)
	Finalize and clear memory allocated for RK4 integrator. More...
void	error_rk4 (MbsData *mbs_data, MbsDirdyn *dd, int err)
	If an error occurs during time integration, this function prints the error message and call finish_rk4. More...

Detailed Description

This file implements the functions of the Runge Kutta order 4 integration method in C.

This file implements the functions of the Runge Kutta order 4 integration method in C. Specific functions implementation of the algorithm.

Creation date: December 2017

Author

Olivier Lantsoght

Modification date: April 2018 \modified by Sebastien Timmermans

(c) Universite catholique de Louvain

Function Documentation

error_rk4()

void error_rk4	(	MbsData *	mbs_data,
		MbsDirdyn *	dd,
		int	err
	)

If an error occurs during time integration, this function prints the error message and call finish_rk4.

Parameters

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

finish_rk4()

void finish_rk4	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Finalize and clear memory allocated for RK4 integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

initialize_rk4()

void initialize_rk4	(	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 RK4 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_rk4()

int loop_rk4	(	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