mbsysc/MBsysC/mbs__w__methods_8h_source.html

 #ifndef MBS_W_METHODS_H_INCLUDED

#define MBS_W_METHODS_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"


#define W_S 2        // order of the method, 2 per default


 //#define W_A21 (2.0/3.0)

 //#define W_C1 0.0

 //#define W_C2 0.0

 //#define W_B1 1.0

 //#define W_B2 0.0

 //#define W_GAMMA11 1.0

 //#define W_GAMMA22 0.0

 //#define W_GAMMA21 0.0


#define W_A21 0.66666666666667

#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 //(0.5 + (sqrt(3.0)/6.0))

#define W_GAMMA22 0.788675134594813 // (0.5 + (sqrt(3.0)/6.0))

#define W_GAMMA21 -1.051566846126417 //(-2.0 * W_A21 * W_GAMMA22)


typedef struct MbsDirdynWMethods

{


   double **dfdy;       // vector of derivatives of f by y [nxn]

   double *dfdx;        // vector of derivatives of f by x [1xn]

   double *dysav;       // vector save dydx from previous step [1xn]

   double *ysav;        // vector save y from previous step [1xn]


   double *f;           // vector to store the call of f' [1xn]

   int *indx;            // index for LU decomp and system resolution


    // To freeze jacobian

   double *Freeze_dydx, *Freeze_dfdx, **Freeze_dfdy;

   int Freeze_jacobian_index;


   // internal vectors/matrices

   double **A;                            // left side of the equation, at step i [nqu x nqu]

   double *B;                            // right side of the equation, at step i [1 x nqu]

   double *sum_alpha_gamma;                // internal step variable [1 x nqu]

   double *partial_right_hand_term;        // partial rigth hand step variable  [1 x nqu]

   double *jpxv;                        // useful vector to store Jnp * xv  [1 x nqu]

   double **delta_p;                    // to store delta p

   double **delta_v;                    // to store delta v

   double *intermediate_y;                // useful vector to store y [1xnqu]


   double *A_param;                        // Parameter A

   double *B_param;                        // Parameter B

   double *C_param;                        // Parameter C

   double **GAM_param;                    // Parameter Gamma


} MbsDirdynWMethods;


void initialize_w_methods(MbsData *mbs_data, MbsDirdyn *mbs_dd);


int loop_w_methods(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd);


void finish_w_methods(MbsData *mbs_data, MbsDirdyn *mbs_dd);


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


#endif // MBS_W_METHODS_H_INCLUDED