mbs_w_methods.c File Reference

This file implements the functions of the W Methods implicit integration method in C. Equivalent to Implicit Euler with two (or more) stages. More...

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

Functions
void	initialize_w_methods (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 W Methods integrator. More...
int	loop_w_methods (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	Integrate the motion from t0 to tf. More...
void	finish_w_methods (MbsData *mbs_data, MbsDirdyn *dd)
	Finalize and clear memory allocated for W Methods integrator. More...
void	error_w_methods (MbsData *mbs_data, MbsDirdyn *dd, int err)
	If an error occurs during time integration, this function prints the error message and call finish_w_methods. More...

Detailed Description

This file implements the functions of the W Methods implicit integration method in C. Equivalent to Implicit Euler with two (or more) stages.

Creation date: April 2018

Author

Sebastien Timmermans

@source Arnold M. et al, Linearly implicit time integration methods in real-time applications: DAEs and stiff ODEs Multibody System Dynamics, 2007, 17:99–117

(c) Universite catholique de Louvain

Function Documentation

error_w_methods()

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

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

Parameters

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

finish_w_methods()

void finish_w_methods	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Finalize and clear memory allocated for W Methods integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

initialize_w_methods()

void initialize_w_methods	(	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 W Methods 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_w_methods()

int loop_w_methods	(	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