mbs_w_methods.h File Reference

This header defines global functions for W methods integrator in C. More...

#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"

Go to the source code of this file.

Classes
struct	MbsDirdynWMethods
	W Methods structure for dirdyn. More...

Macros
#define	W_S   2
#define	W_A21   0.66666666666667
	first order parameters More...
#define	W_C1   0.0
#define	W_C2   0.66666666666667
#define	W_B1   (0.25)
#define	W_B2   (0.75)
#define	W_GAMMA11   0.788675134594813
#define	W_GAMMA22   0.788675134594813
#define	W_GAMMA21   -1.051566846126417

Functions
void	initialize_w_methods (MbsData *mbs_data, MbsDirdyn *mbs_dd)
	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 *mbs_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 header defines global functions for W methods integrator in C.

Creation date: June 2018

Author

by 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

Macro Definition Documentation

W_A21

#define W_A21   0.66666666666667

first order parameters

second order parameters

W_B1

#define W_B1   (0.25)

W_B2

#define W_B2   (0.75)

W_C1

#define W_C1   0.0

W_C2

#define W_C2   0.66666666666667

W_GAMMA11

#define W_GAMMA11   0.788675134594813

W_GAMMA21

#define W_GAMMA21   -1.051566846126417

W_GAMMA22

#define W_GAMMA22   0.788675134594813

W_S

#define W_S   2

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
	)

Initialize all needed fields in MbsDirdyn for W Methods integrator.

Parameters

mbs_data	The computed MBS structure
mbs_dd	The associated MbsDirdyn structure

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