chrono::ChTimestepperEulerImplicitProjected Class Reference

Description

Performs a step of Euler implicit for II order systems using a semi implicit Euler without constraint stabilization, followed by a projection.

That is: a speed problem followed by a position problem that keeps constraint drifting 'closed' by using a projection. If using an underlying CCP complementarity solver, this is the typical Tasora stabilized timestepper for DVIs.

#include <ChTimestepper.h>

Inheritance diagram for chrono::ChTimestepperEulerImplicitProjected:
Collaboration diagram for chrono::ChTimestepperEulerImplicitProjected:

Public Member Functions

 ChTimestepperEulerImplicitProjected (ChIntegrableIIorder *mintegrable=nullptr)
 Constructors (default empty)
 
virtual Type GetType () const override
 Return type of the integration method. More...
 
virtual void Advance (const double dt) override
 Performs an integration timestep. More...
 
- Public Member Functions inherited from chrono::ChTimestepperIIorder
 ChTimestepperIIorder (ChIntegrableIIorder *mintegrable=nullptr)
 Constructor.
 
virtual ~ChTimestepperIIorder ()
 Destructor.
 
virtual ChStateget_X ()
 Access the state, position part, at current time.
 
virtual ChStateDeltaget_V ()
 Access the state, speed part, at current time.
 
virtual ChStateDeltaget_A ()
 Access the acceleration, at current time.
 
virtual void SetIntegrable (ChIntegrableIIorder *mintegrable)
 Set the integrable object.
 
- Public Member Functions inherited from chrono::ChTimestepper
 ChTimestepper (ChIntegrable *mintegrable=nullptr)
 Constructor.
 
virtual ~ChTimestepper ()
 Destructor.
 
virtual ChVectorDynamicget_L ()
 Access the lagrangian multipliers, if any.
 
virtual void SetIntegrable (ChIntegrable *mintegrable)
 Set the integrable object.
 
ChIntegrableGetIntegrable ()
 Get the integrable object.
 
virtual double GetTime () const
 Get the current time.
 
virtual void SetTime (double mt)
 Set the current time.
 
void SetVerbose (bool mverbose)
 Turn on/off logging of messages.
 
void SetQcDoClamp (bool mdc)
 Turn on/off clamping on the Qcterm.
 
void SetQcClamping (double mcl)
 Turn on/off clamping on the Qcterm.
 
virtual void ArchiveOUT (ChArchiveOut &marchive)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive)
 Method to allow de serialization of transient data from archives.
 

Protected Attributes

ChStateDelta Vold
 
ChVectorDynamic Dl
 
ChVectorDynamic R
 
ChVectorDynamic Qc
 
- Protected Attributes inherited from chrono::ChTimestepperIIorder
ChState X
 
ChStateDelta V
 
ChStateDelta A
 
- Protected Attributes inherited from chrono::ChTimestepper
ChIntegrableintegrable
 
double T
 
ChVectorDynamic L
 
bool verbose
 
bool Qc_do_clamp
 
double Qc_clamping
 

Additional Inherited Members

- Public Types inherited from chrono::ChTimestepper
enum  Type {
  EULER_IMPLICIT_LINEARIZED = 0, EULER_IMPLICIT_PROJECTED = 1, EULER_IMPLICIT = 2, TRAPEZOIDAL = 3,
  TRAPEZOIDAL_LINEARIZED = 4, HHT = 5, HEUN = 6, RUNGEKUTTA45 = 7,
  EULER_EXPLICIT = 8, LEAPFROG = 9, NEWMARK = 10, CUSTOM = 20
}
 Available methods for time integration (time steppers).
 

Member Function Documentation

void chrono::ChTimestepperEulerImplicitProjected::Advance ( const double  dt)
overridevirtual

Performs an integration timestep.

Parameters
dttimestep to advance

Implements chrono::ChTimestepper.

virtual Type chrono::ChTimestepperEulerImplicitProjected::GetType ( ) const
overridevirtual

Return type of the integration method.

Default is CUSTOM. Derived classes should override this function.

Reimplemented from chrono::ChTimestepper.