EmbeddedRKModule Class Reference

Module for embedded Runge-Kutta time integration methods. More...

#include "EmbeddedRKModule.h"

Inheritance diagram for EmbeddedRKModule:

Collaboration diagram for EmbeddedRKModule:

Public Member Functions
	EmbeddedRKModule (const String &name="EmbeddedRK")
	Constructor.
virtual Status	init (const Properties &conf, const Properties &props, const Properties &globdat) override
	Initialize the module.
virtual void	solve (const Properties &info, const Properties &globdat) override
	Solve using embedded Runge-Kutta method.
virtual	~EmbeddedRKModule ()
	Protected destructor.
Public Member Functions inherited from ExplicitModule
virtual void	shutdown (const Properties &globdat) override
	Shutdown the module.
virtual void	configure (const Properties &props, const Properties &globdat) override
	Configure the module from properties.
virtual void	getConfig (const Properties &props, const Properties &globdat) const override
	Get current module configuration.
virtual void	advance (const Properties &globdat) override
	Advance to next time step.
virtual void	cancel (const Properties &globdat) override
	Cancel current solution attempt.
virtual bool	commit (const Properties &globdat) override
	Compute next step size and commit solution.
virtual void	setPrecision (double eps) override
	Set convergence precision.
virtual double	getPrecision () const override
	Get current convergence precision.

Static Public Member Functions
static Ref< Module >	makeNew (const String &name, const Properties &conf, const Properties &props, const Properties &globdat)
	Factory method for creating new EmbeddedRKModule instances.
static void	declare ()
	Register EmbeddedRKModule type with ModuleFactory.

Static Public Attributes
Property identifiers
static const char *	TYPE_NAME = "EmbeddedRK"
	Module type name.
Static Public Attributes inherited from ExplicitModule
static const char *	TYPE_NAME = "Explicit"
	Module type name.
static const char *	STEP_COUNT = "stepCount"
	Step count property.
static const char *	SO3_DOFS = "dofs_SO3"
	SO(3) DOF types property.
static const char *	LEN_SCALE = "lengthScale"
	Length scale property.

Additional Inherited Members
Public Types inherited from ExplicitModule
enum	MassMode { LUMPED , CONSISTENT }
	Mass matrix formulation modes. More...
Protected Member Functions inherited from ExplicitModule
	ExplicitModule (const String &name="")
	Protected constructor.
virtual	~ExplicitModule ()
	Protected destructor.
void	updateMass_ (const Properties &globdat)
	Update mass matrix.
void	invalidate_ ()
	invalidate_ current state
void	ABupdate (const Vector &delta_y, const Vector &f_cur, const Vector &f_old) const
	Adams-Bashforth 2-step update.
void	ABupdate (const Vector &delta_y, const Vector &f_cur) const
	Adams-Bashforth 1-step update (explicit Euler)
void	updateVec (const Vector &y_new, const Vector &y_old, const Vector &delta_y, const bool rot=false)
	Update displacement vectors with optional SO(3) handling.
void	getAcce (const Vector &a, const Ref< Constraints > &cons, const Vector &fres, const Properties &globdat)
	Get acceleration and return resulting force vector.
Vector	getForce (const Vector &fint, const Vector &fext, const Properties &globdat)
	Get force vector.
double	getQuality (const Vector &y_pre, const Vector &y_cor)
	Get solution quality measure.
Protected Attributes inherited from ExplicitModule
bool	valid_
	State validity flag.
double	dtime_
	Current time step size.
double	prec_
	Precision tolerance.
double	minDtime_
	Minimum time step size.
double	maxDtime_
	Maximum time step size.
double	saftey_
	Safety factor for step size control.
double	incrFact_
	Step size increase factor.
double	decrFact_
	Step size decrease factor.
MassMode	mode_
	Mass matrix mode.
idx_t	order_
	Integration order.
double	lenScale_
	Characteristic length scale.
Ref< Function >	updCond_
	Update condition function.
Vector	massInv_
	Inverse mass matrix.
IdxVector	dofsSO3_
	SO(3) DOF type indices.
IdxMatrix	rdofs_
	Rotational DOF mapping.
Ref< Model >	model_
	Root of the model tree.
Ref< DofSpace >	dofs_
	Degree of freedom space.
Ref< Constraints >	cons_
	Constraint manager.
Ref< Solver >	solver_
	Linear solver.

Detailed Description

Implements embedded Runge-Kutta schemes including Bogacki-Shampine (ODE23) and Dormand-Prince (ODE45) methods with adaptive step size control. Features special handling for rotational DOFs using Runge-Kutta-Munthe-Kaas (RKMK) methods.

See also

ODE23

ODE45

[RKMK 1998] (https://doi.org/10.1007/BF02510919)

[RKMK 1999] (https://doi.org/10.1016/S0168-9274(98)00030-0)

Constructor & Destructor Documentation

EmbeddedRKModule()

EmbeddedRKModule::EmbeddedRKModule ( const String &  name = "EmbeddedRK" )

explicit

Parameters

name	Module name

~EmbeddedRKModule()

EmbeddedRKModule::~EmbeddedRKModule ( )

virtual

Member Function Documentation

declare()

void EmbeddedRKModule::declare ( )

static

init()

Module::Status EmbeddedRKModule::init ( const Properties &  conf, const Properties &  props, const Properties &  globdat  )

overridevirtual

Parameters

conf	Actually used configuration properties (output)
props	User-specified module properties
globdat	Global data container

Returns

Module status

Reimplemented from ExplicitModule.

makeNew()

Ref< Module > EmbeddedRKModule::makeNew ( const String &  name, const Properties &  conf, const Properties &  props, const Properties &  globdat  )

static

Parameters

name	Module name
conf	Actually used configuration properties (output)
props	User-specified module properties
globdat	Global data container

Returns

Reference to new EmbeddedRKModule instance

solve()

void EmbeddedRKModule::solve ( const Properties &  info, const Properties &  globdat  )

overridevirtual

Parameters

info	Solver information
globdat	Global data container

Implements ExplicitModule.

Member Data Documentation

TYPE_NAME

const char * EmbeddedRKModule::TYPE_NAME = "EmbeddedRK"

static