CPodes Class Reference

#include <SimTKcpodes.h>

List of all members.

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Detailed Description

This is a straightforward translation of the Sundials CPODES C interface into C++.

The class CPodes represents a single instance of a CPODES integrator, and handles the associated memory internally. Methods here are identical to the corresponding CPODES functions (with the "CPode" prefix removed) but are const-correct and use SimTK Vector & Real rather than Sundials N_Vector and realtype.

Public Types
enum	ODEType { UnspecifiedODEType = 0, ExplicitODE, ImplicitODE }
enum	LinearMultistepMethod { UnspecifiedLinearMultistepMethod = 0, BDF, Adams }
enum	NonlinearSystemIterationType { UnspecifiedNonlinearSystemIterationType = 0, Newton, Functional }
enum	ToleranceType { UnspecifiedToleranceType = 0, ScalarScalar, ScalarVector, WeightFunction }
enum	ProjectionNorm { UnspecifiedProjectionNorm = 0, L2Norm, ErrorNorm }
enum	ConstraintLinearity { UnspecifiedConstraintLinearity = 0, Linear, Nonlinear }
enum	ProjectionFactorizationType {   UnspecifiedProjectionFactorizationType = 0, ProjectWithLU, ProjectWithQR, ProjectWithSchurComplement,   ProjectWithQRPivot }
enum	StepMode {   UnspecifiedStepMode = 0, Normal, OneStep, NormalTstop,   OneStepTstop }
Public Member Functions
	CPodes (ODEType ode=UnspecifiedODEType, LinearMultistepMethod lmm=UnspecifiedLinearMultistepMethod, NonlinearSystemIterationType nls=UnspecifiedNonlinearSystemIterationType)
	~CPodes ()
int	init (CPodesSystem &sys, Real t0, const Vector &y0, const Vector &yp0, ToleranceType tt, Real reltol, void *abstol)
int	reInit (CPodesSystem &sys, Real t0, const Vector &y0, const Vector &yp0, ToleranceType tt, Real reltol, void *abstol)
int	projInit (ProjectionNorm, ConstraintLinearity, const Vector &ctol)
int	projDefine ()
int	quadInit (const Vector &q0)
int	quadReInit (const Vector &q0)
int	rootInit (int nrtfn)
int	setErrHandlerFn ()
int	setEwtFn ()
int	dlsSetJacFn (void *jac, void *jac_data)
int	dlsProjSetJacFn (void *jacP, void *jacP_data)
int	step (Real tout, Real *tret, Vector &y_inout, Vector &yp_inout, StepMode=Normal)
int	setErrFile (FILE *errfp)
int	setMaxOrd (int maxord)
int	setMaxNumSteps (long mxsteps)
int	setMaxHnilWarns (int mxhnil)
int	setStabLimDet (bool stldet)
int	setInitStep (Real hin)
int	setMinStep (Real hmin)
int	setMaxStep (Real hmax)
int	setStopTime (Real tstop)
int	setMaxErrTestFails (int maxnef)
int	setMaxNonlinIters (int maxcor)
int	setMaxConvFails (int maxncf)
int	setNonlinConvCoef (Real nlscoef)
int	setProjUpdateErrEst (bool proj_err)
int	setProjFrequency (long proj_freq)
int	setProjTestCnstr (bool test_cnstr)
int	setProjLsetupFreq (long proj_lset_freq)
int	setProjNonlinConvCoef (Real prjcoef)
int	setQuadErrCon (bool errconQ, int tol_typeQ, Real reltolQ, void *abstolQ)
int	setTolerances (int tol_type, Real reltol, void *abstol)
int	setRootDirection (std::vector< int > &rootdir)
int	getDky (Real t, int k, Vector &dky)
int	getQuad (Real t, Vector &yQout)
int	getQuadDky (Real t, int k, Vector &dky)
int	getWorkSpace (long *lenrw, long *leniw)
int	getNumSteps (long *nsteps)
int	getNumFctEvals (long *nfevals)
int	getNumLinSolvSetups (long *nlinsetups)
int	getNumErrTestFails (long *netfails)
int	getLastOrder (int *qlast)
int	getCurrentOrder (int *qcur)
int	getNumStabLimOrderReds (long *nslred)
int	getActualInitStep (Real *hinused)
int	getLastStep (Real *hlast)
int	getCurrentStep (Real *hcur)
int	getCurrentTime (Real *tcur)
int	getTolScaleFactor (Real *tolsfac)
int	getErrWeights (Vector &eweight)
int	getEstLocalErrors (Vector &ele)
int	getNumGEvals (long *ngevals)
int	getRootInfo (int *rootsfound)
int	getIntegratorStats (long *nsteps, long *nfevals, long *nlinsetups, long *netfails, int *qlast, int *qcur, Real *hinused, Real *hlast, Real *hcur, Real *tcur)
int	getNumNonlinSolvIters (long *nniters)
int	getNumNonlinSolvConvFails (long *nncfails)
int	getNonlinSolvStats (long *nniters, long *nncfails)
int	getProjNumProj (long *nproj)
int	getProjNumCnstrEvals (long *nce)
int	getProjNumLinSolvSetups (long *nsetupsP)
int	getProjNumFailures (long *nprf)
int	getProjStats (long *nproj, long *nce, long *nsetupsP, long *nprf)
int	getQuadNumFunEvals (long *nqevals)
int	getQuadErrWeights (Vector &eQweight)
char *	getReturnFlagName (int flag)
int	dlsGetWorkSpace (long *lenrwLS, long *leniwLS)
int	dlsGetNumJacEvals (long *njevals)
int	dlsGetNumFctEvals (long *nfevalsLS)
int	dlsGetLastFlag (int *flag)
char *	dlsGetReturnFlagName (int flag)
int	dlsProjGetNumJacEvals (long *njPevals)
int	dlsProjGetNumFctEvals (long *ncevalsLS)
int	lapackDense (int N)
int	lapackBand (int N, int mupper, int mlower)
int	lapackDenseProj (int Nc, int Ny, ProjectionFactorizationType)
Static Public Attributes
static const int	Success = 0
static const int	TstopReturn = 1
static const int	RootReturn = 2
static const int	Warning = 99
static const int	TooMuchWork = -1
static const int	TooClose = -27
static const int	RecoverableError = 9999
static const int	UnrecoverableError = -9999
Friends
class	CPodesRep

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Member Enumeration Documentation

enum ODEType

Enumerator:

UnspecifiedODEType
ExplicitODE
ImplicitODE

enum LinearMultistepMethod

Enumerator:

UnspecifiedLinearMultistepMethod
BDF
Adams

enum NonlinearSystemIterationType

Enumerator:

UnspecifiedNonlinearSystemIterationType
Newton
Functional

enum ToleranceType

Enumerator:

UnspecifiedToleranceType
ScalarScalar
ScalarVector
WeightFunction

enum ProjectionNorm

Enumerator:

UnspecifiedProjectionNorm
L2Norm
ErrorNorm

enum ConstraintLinearity

Enumerator:

UnspecifiedConstraintLinearity
Linear
Nonlinear

enum ProjectionFactorizationType

Enumerator:

UnspecifiedProjectionFactorizationType
ProjectWithLU
ProjectWithQR
ProjectWithSchurComplement
ProjectWithQRPivot

enum StepMode

Enumerator:

UnspecifiedStepMode
Normal
OneStep
NormalTstop
OneStepTstop

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Constructor & Destructor Documentation

CPodes	(	ODEType	ode = UnspecifiedODEType,
		LinearMultistepMethod	lmm = UnspecifiedLinearMultistepMethod,
		NonlinearSystemIterationType	nls = UnspecifiedNonlinearSystemIterationType
	)			[inline, explicit]

~CPodes

(

)

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Member Function Documentation

int init	(	CPodesSystem &	sys,
		Real	t0,
		const Vector &	y0,
		const Vector &	yp0,
		ToleranceType	tt,
		Real	reltol,
		void *	abstol
	)

Referenced by OLDCPodesIntegrator::initialize().

int reInit	(	CPodesSystem &	sys,
		Real	t0,
		const Vector &	y0,
		const Vector &	yp0,
		ToleranceType	tt,
		Real	reltol,
		void *	abstol
	)

int projInit	(	ProjectionNorm	,
		ConstraintLinearity	,
		const Vector &	ctol
	)

int projDefine

(

)

Referenced by OLDCPodesIntegrator::initialize().

int quadInit

(

const Vector &

q0

)

int quadReInit

(

const Vector &

q0

)

int rootInit

(

int

nrtfn

)

int setErrHandlerFn

(

)

int setEwtFn

(

)

int dlsSetJacFn	(	void *	jac,
		void *	jac_data
	)

int dlsProjSetJacFn	(	void *	jacP,
		void *	jacP_data
	)

int step	(	Real	tout,
		Real *	tret,
		Vector &	y_inout,
		Vector &	yp_inout,
		StepMode	= Normal
	)

Referenced by OLDCPodesIntegrator::step().

int setErrFile

(

FILE *

errfp

)

int setMaxOrd

(

int

maxord

)

int setMaxNumSteps

(

long

mxsteps

)

Referenced by OLDCPodesIntegrator::initialize().

int setMaxHnilWarns

(

int

mxhnil

)

int setStabLimDet

(

bool

stldet

)

int setInitStep

(

Real

hin

)

int setMinStep

(

Real

hmin

)

int setMaxStep

(

Real

hmax

)

int setStopTime

(

Real

tstop

)

int setMaxErrTestFails

(

int

maxnef

)

int setMaxNonlinIters

(

int

maxcor

)

int setMaxConvFails

(

int

maxncf

)

int setNonlinConvCoef

(

Real

nlscoef

)

Referenced by OLDCPodesIntegrator::initialize().

int setProjUpdateErrEst

(

bool

proj_err

)

int setProjFrequency

(

long

proj_freq

)

int setProjTestCnstr

(

bool

test_cnstr

)

int setProjLsetupFreq

(

long

proj_lset_freq

)

int setProjNonlinConvCoef

(

Real

prjcoef

)

int setQuadErrCon	(	bool	errconQ,
		int	tol_typeQ,
		Real	reltolQ,
		void *	abstolQ
	)

int setTolerances	(	int	tol_type,
		Real	reltol,
		void *	abstol
	)

int setRootDirection

(

std::vector< int > &

rootdir

)

int getDky	(	Real	t,
		int	k,
		Vector &	dky
	)

int getQuad	(	Real	t,
		Vector &	yQout
	)

int getQuadDky	(	Real	t,
		int	k,
		Vector &	dky
	)

int getWorkSpace	(	long *	lenrw,
		long *	leniw
	)

int getNumSteps

(

long *

nsteps

)

int getNumFctEvals

(

long *

nfevals

)

int getNumLinSolvSetups

(

long *

nlinsetups

)

int getNumErrTestFails

(

long *

netfails

)

int getLastOrder

(

int *

qlast

)

int getCurrentOrder

(

int *

qcur

)

int getNumStabLimOrderReds

(

long *

nslred

)

int getActualInitStep

(

Real *

hinused

)

int getLastStep

(

Real *

hlast

)

int getCurrentStep

(

Real *

hcur

)

Referenced by OLDCPodesIntegrator::getPredictedNextStep().

int getCurrentTime

(

Real *

tcur

)

int getTolScaleFactor

(

Real *

tolsfac

)

int getErrWeights

(

Vector &

eweight

)

int getEstLocalErrors

(

Vector &

ele

)

int getNumGEvals

(

long *

ngevals

)

int getRootInfo

(

int *

rootsfound

)

int getIntegratorStats	(	long *	nsteps,
		long *	nfevals,
		long *	nlinsetups,
		long *	netfails,
		int *	qlast,
		int *	qcur,
		Real *	hinused,
		Real *	hlast,
		Real *	hcur,
		Real *	tcur
	)

int getNumNonlinSolvIters

(

long *

nniters

)

int getNumNonlinSolvConvFails

(

long *

nncfails

)

int getNonlinSolvStats	(	long *	nniters,
		long *	nncfails
	)

int getProjNumProj

(

long *

nproj

)

int getProjNumCnstrEvals

(

long *

nce

)

int getProjNumLinSolvSetups

(

long *

nsetupsP

)

int getProjNumFailures

(

long *

nprf

)

int getProjStats	(	long *	nproj,
		long *	nce,
		long *	nsetupsP,
		long *	nprf
	)

int getQuadNumFunEvals

(

long *

nqevals

)

int getQuadErrWeights

(

Vector &

eQweight

)

char* getReturnFlagName

(

int

flag

)

int dlsGetWorkSpace	(	long *	lenrwLS,
		long *	leniwLS
	)

int dlsGetNumJacEvals

(

long *

njevals

)

int dlsGetNumFctEvals

(

long *

nfevalsLS

)

int dlsGetLastFlag

(

int *

flag

)

char* dlsGetReturnFlagName

(

int

flag

)

int dlsProjGetNumJacEvals

(

long *

njPevals

)

int dlsProjGetNumFctEvals

(

long *

ncevalsLS

)

int lapackDense

(

int

N

)

Referenced by OLDCPodesIntegrator::initialize().

int lapackBand	(	int	N,
		int	mupper,
		int	mlower
	)

int lapackDenseProj	(	int	Nc,
		int	Ny,
		ProjectionFactorizationType
	)

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Friends And Related Function Documentation

friend class CPodesRep [friend]

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Member Data Documentation

const int Success = 0 [static]

Referenced by CPodesMultibodySystem::constraint(), CPodesMultibodySystem::explicitODE(), OLDCPodesIntegrator::initialize(), and CPodesMultibodySystem::project().

const int TstopReturn = 1 [static]

const int RootReturn = 2 [static]

const int Warning = 99 [static]

const int TooMuchWork = -1 [static]

const int TooClose = -27 [static]

const int RecoverableError = 9999 [static]

Referenced by CPodesMultibodySystem::constraint(), CPodesMultibodySystem::explicitODE(), and CPodesMultibodySystem::project().

const int UnrecoverableError = -9999 [static]

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The documentation for this class was generated from the following file:

• SimTKcpodes.h