Description

Performs a step of trapezoidal implicit for II order systems.

NOTE this is a modified version of the trapezoidal for DAE: the original derivation would lead to a scheme that produces oscillatory reactions in constraints, so this is a modified version that is first order in constraint reactions. Use damped HHT or damped Newmark for more advanced options.

#include <ChTimestepper.h>

Inheritance diagram for chrono::ChTimestepperTrapezoidal:
Collaboration diagram for chrono::ChTimestepperTrapezoidal:

Public Member Functions

 ChTimestepperTrapezoidal (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.
 
- Public Member Functions inherited from chrono::ChImplicitIterativeTimestepper
void SetMaxiters (int miters)
 Set the max number of iterations using the Newton Raphson procedure.
 
double GetMaxiters ()
 Get the max number of iterations using the Newton Raphson procedure.
 
void SetRelTolerance (double rel_tol)
 Set the relative tolerance. More...
 
void SetAbsTolerances (double abs_tolS, double abs_tolL)
 Set the absolute tolerances. More...
 
void SetAbsTolerances (double abs_tol)
 Set the absolute tolerances. More...
 
int GetNumIterations () const
 Return the number of iterations.
 
int GetNumSetupCalls () const
 Return the number of calls to the solver's Setup function.
 
int GetNumSolveCalls () const
 Return the number of calls to the solver's Solve function.
 
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 Dv
 
ChVectorDynamic Dl
 
ChState Xnew
 
ChStateDelta Vnew
 
ChVectorDynamic R
 
ChVectorDynamic Rold
 
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
 
- Protected Attributes inherited from chrono::ChImplicitIterativeTimestepper
int maxiters
 maximum number of iterations
 
double reltol
 relative tolerance
 
double abstolS
 absolute tolerance (states)
 
double abstolL
 absolute tolerance (Lagrange multipliers)
 
int numiters
 number of iterations
 
int numsetups
 number of calls to the solver's Setup function
 
int numsolves
 number of calls to the solver's Solve function
 

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::ChTimestepperTrapezoidal::Advance ( const double  dt)
overridevirtual

Performs an integration timestep.

Parameters
dttimestep to advance

Implements chrono::ChTimestepper.

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

Return type of the integration method.

Default is CUSTOM. Derived classes should override this function.

Reimplemented from chrono::ChTimestepper.