mbsysc/MBsysC/mbs__w__methods_8h_source.html

 #ifndef MBS_W_METHODS_H_INCLUDED

#define MBS_W_METHODS_H_INCLUDED


#include "mbs_project_interface.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;

   double *dfdx;

   double *dysav;

   double *ysav;


   double *f;

   int *indx;


    // To freeze jacobian

   double *Freeze_dydx, *Freeze_dfdx, **Freeze_dfdy;

   int Freeze_jacobian_index;


   // internal vectors/matrices

   double **A;

   double *B;

   double *sum_alpha_gamma;

   double *partial_right_hand_term;

   double *jpxv;

   double **delta_p;

   double **delta_v;

   double *intermediate_y;


   double *A_param;

   double *B_param;

   double *C_param;

   double **GAM_param;


   int(*derivs)(double, double[], double[], MbsData *, MbsDirdyn *);

   void (*loop_fct)(MbsData *, MbsDirdyn *);

    int (*save_realtime_update)(MbsDirdyn* dd, MbsData* mbs_data);

} MbsDirdynWMethods;


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));


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