void SchatzmanPaoliOSI::initialize()
{
OneStepIntegrator::initialize();
// Get initial time
double t0 = simulationLink->model()->t0();
// Compute W(t0) for all ds
ConstDSIterator itDS;
for (itDS = OSIDynamicalSystems->begin(); itDS != OSIDynamicalSystems->end(); ++itDS)
{
Type::Siconos dsType = Type::value(*(*itDS));
if (dsType == Type::LagrangianLinearTIDS)
{
// Computation of the first step for starting
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (*itDS);
SP::SiconosVector q0 = d->q0();
SP::SiconosVector q = d->q();
SP::SiconosVector v0 = d->velocity0();
SP::SiconosVector velocity = d->velocity();
// std::cout << " q0 = " << std::endl;
// q0->display();
// std::cout << " v0 = " << std::endl;
// v0->display();
// We first swap the initial value contained in q and v after initialization.
d->qMemory()->swap(*q);
d->velocityMemory()->swap(*velocity);
// we compute the new state values
double h = simulationLink->timeStep();
*q = *q0 + h* * v0;
//*velocity=*velocity; we do nothing for the velocity
// This value will swapped when OneStepIntegrator::saveInMemory will be called
// by the rest of Simulation::initialize (_eventsManager->preUpdate();)
// SP::SiconosVector qprev = d->qMemory()->getSiconosVector(0);
// SP::SiconosVector qprev2 = d->qMemory()->getSiconosVector(1);
// SP::SiconosVector vprev = d->velocityMemory()->getSiconosVector(0);
// std::cout << " qprev = " << std::endl;
// qprev->display();
// std::cout << " qprev2 = " << std::endl;
// qprev2->display();
// std::cout << " vprev = " << std::endl;
// vprev->display();
}
// Memory allocation for workX. workX[ds*] corresponds to xfree (or vfree in lagrangian case).
// workX[*itDS].reset(new SiconosVector((*itDS)->getDim()));
// W initialization
initW(t0, *itDS);
// if ((*itDS)->getType() == Type::LagrangianDS || (*itDS)->getType() == Type::FirstOrderNonLinearDS)
(*itDS)->allocateWorkVector(DynamicalSystem::local_buffer, WMap[(*itDS)->number()]->size(0));
}
}
void SchatzmanPaoliOSI::computeFreeState()
{
// This function computes "free" states of the DS belonging to this Integrator.
// "Free" means without taking non-smooth effects into account.
//double t = simulationLink->nextTime(); // End of the time step
//double told = simulationLink->startingTime(); // Beginning of the time step
//double h = t-told; // time step length
// Operators computed at told have index i, and (i+1) at t.
// Note: integration of r with a theta method has been removed
// SiconosVector *rold = static_cast<SiconosVector*>(d->rMemory()->getSiconosVector(0));
// Iteration through the set of Dynamical Systems.
//
DSIterator it; // Iterator through the set of DS.
SP::DynamicalSystem ds; // Current Dynamical System.
SP::SiconosMatrix W; // W SchatzmanPaoliOSI matrix of the current DS.
Type::Siconos dsType ; // Type of the current DS.
for (it = OSIDynamicalSystems->begin(); it != OSIDynamicalSystems->end(); ++it)
{
ds = *it; // the considered dynamical system
dsType = Type::value(*ds); // Its type
W = WMap[ds->number()]; // Its W SchatzmanPaoliOSI matrix of iteration.
//1 - Lagrangian Non Linear Systems
if (dsType == Type::LagrangianDS)
{
// // IN to be updated at current time: W, M, q, v, fL
// // IN at told: qi,vi, fLi
// // Note: indices i/i+1 corresponds to value at the beginning/end of the time step.
// // Index k stands for Newton iteration and thus corresponds to the last computed
// // value, ie the one saved in the DynamicalSystem.
// // "i" values are saved in memory vectors.
// // vFree = v_k,i+1 - W^{-1} ResiduFree
// // with
// // ResiduFree = M(q_k,i+1)(v_k,i+1 - v_i) - h*theta*forces(t,v_k,i+1, q_k,i+1) - h*(1-theta)*forces(ti,vi,qi)
// // -- Convert the DS into a Lagrangian one.
// SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
// // Get state i (previous time step) from Memories -> var. indexed with "Old"
// SP::SiconosVector qold =d->qMemory()->getSiconosVector(0);
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// // --- ResiduFree computation ---
// // ResFree = M(v-vold) - h*[theta*forces(t) + (1-theta)*forces(told)]
// //
// // vFree pointer is used to compute and save ResiduFree in this first step.
// SP::SiconosVector vfree = d->workspace(DynamicalSystem::free);//workX[d];
// (*vfree)=*(d->workspace(DynamicalSystem::freeresidu));
// // -- Update W --
// // Note: during computeW, mass and jacobians of fL will be computed/
// computeW(t,d);
// SP::SiconosVector v = d->velocity(); // v = v_k,i+1
// // -- vfree = v - W^{-1} ResiduFree --
// // At this point vfree = residuFree
// // -> Solve WX = vfree and set vfree = X
// W->PLUForwardBackwardInPlace(*vfree);
// // -> compute real vfree
// *vfree *= -1.0;
// *vfree += *v;
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
// 2 - Lagrangian Linear Systems
else if (dsType == Type::LagrangianLinearTIDS)
{
// IN to be updated at current time: Fext
// IN at told: qi,vi, fext
// IN constants: K,C
// Note: indices i/i+1 corresponds to value at the beginning/end of the time step.
// "i" values are saved in memory vectors.
// vFree = v_i + W^{-1} ResiduFree // with
// ResiduFree = (-h*C -h^2*theta*K)*vi - h*K*qi + h*theta * Fext_i+1 + h*(1-theta)*Fext_i
// -- Convert the DS into a Lagrangian one.
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
// Get state i (previous time step) from Memories -> var. indexed with "Old"
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0); // q_k
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); //v_k
// --- ResiduFree computation ---
// vFree pointer is used to compute and save ResiduFree in this first step.
// Velocity free and residu. vFree = RESfree (pointer equality !!).
SP::SiconosVector qfree = d->workspace(DynamicalSystem::free);//workX[d];
(*qfree) = *(d->workspace(DynamicalSystem::freeresidu));
W->PLUForwardBackwardInPlace(*qfree);
*qfree *= -1.0;
*qfree += *qold;
}
// 3 - Newton Euler Systems
else if (dsType == Type::NewtonEulerDS)
{
// // IN to be updated at current time: W, M, q, v, fL
// // IN at told: qi,vi, fLi
// // Note: indices i/i+1 corresponds to value at the beginning/end of the time step.
// // Index k stands for Newton iteration and thus corresponds to the last computed
// // value, ie the one saved in the DynamicalSystem.
// // "i" values are saved in memory vectors.
// // vFree = v_k,i+1 - W^{-1} ResiduFree
// // with
// // ResiduFree = M(q_k,i+1)(v_k,i+1 - v_i) - h*theta*forces(t,v_k,i+1, q_k,i+1) - h*(1-theta)*forces(ti,vi,qi)
// // -- Convert the DS into a Lagrangian one.
// SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
// computeW(t,d);
// // Get state i (previous time step) from Memories -> var. indexed with "Old"
// SP::SiconosVector qold =d->qMemory()->getSiconosVector(0);
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// // --- ResiduFree computation ---
// // ResFree = M(v-vold) - h*[theta*forces(t) + (1-theta)*forces(told)]
// //
// // vFree pointer is used to compute and save ResiduFree in this first step.
// SP::SiconosVector vfree = d->workspace(DynamicalSystem::free);//workX[d];
// (*vfree)=*(d->workspace(DynamicalSystem::freeresidu));
// //*(d->vPredictor())=*(d->workspace(DynamicalSystem::freeresidu));
// // -- Update W --
// // Note: during computeW, mass and jacobians of fL will be computed/
// SP::SiconosVector v = d->velocity(); // v = v_k,i+1
// // -- vfree = v - W^{-1} ResiduFree --
// // At this point vfree = residuFree
// // -> Solve WX = vfree and set vfree = X
// // std::cout<<"SchatzmanPaoliOSI::computeFreeState residu free"<<endl;
// // vfree->display();
// d->luW()->PLUForwardBackwardInPlace(*vfree);
// // std::cout<<"SchatzmanPaoliOSI::computeFreeState -WRfree"<<endl;
// // vfree->display();
// // scal(h,*vfree,*vfree);
// // -> compute real vfree
// *vfree *= -1.0;
// *vfree += *v;
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
}
double SchatzmanPaoliOSI::computeResidu()
{
// This function is used to compute the residu for each "SchatzmanPaoliOSI-discretized" dynamical system.
// It then computes the norm of each of them and finally return the maximum
// value for those norms.
//
// The state values used are those saved in the DS, ie the last computed ones.
// $\mathcal R(x,r) = x - x_{k} -h\theta f( x , t_{k+1}) - h(1-\theta)f(x_k,t_k) - h r$
// $\mathcal R_{free}(x,r) = x - x_{k} -h\theta f( x , t_{k+1}) - h(1-\theta)f(x_k,t_k) $
double t = simulationLink->nextTime(); // End of the time step
double told = simulationLink->startingTime(); // Beginning of the time step
double h = t - told; // time step length
// Operators computed at told have index i, and (i+1) at t.
// Iteration through the set of Dynamical Systems.
//
DSIterator it;
SP::DynamicalSystem ds; // Current Dynamical System.
Type::Siconos dsType ; // Type of the current DS.
double maxResidu = 0;
double normResidu = maxResidu;
for (it = OSIDynamicalSystems->begin(); it != OSIDynamicalSystems->end(); ++it)
{
ds = *it; // the considered dynamical system
dsType = Type::value(*ds); // Its type
SP::SiconosVector residuFree = ds->workspace(DynamicalSystem::freeresidu);
// 1 - Lagrangian Non Linear Systems
if (dsType == Type::LagrangianDS)
{
// // residu = M(q*)(v_k,i+1 - v_i) - h*theta*forces(t,v_k,i+1, q_k,i+1) - h*(1-theta)*forces(ti,vi,qi) - pi+1
// // -- Convert the DS into a Lagrangian one.
// SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
// // Get state i (previous time step) from Memories -> var. indexed with "Old"
// SP::SiconosVector qold =d->qMemory()->getSiconosVector(0);
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// SP::SiconosVector q =d->q();
// d->computeMass();
// SP::SiconosMatrix M = d->mass();
// SP::SiconosVector v = d->velocity(); // v = v_k,i+1
// //residuFree->zero();
// // std::cout << "(*v-*vold)->norm2()" << (*v-*vold).norm2() << std::endl;
// prod(*M, (*v-*vold), *residuFree); // residuFree = M(v - vold)
// if (d->forces()) // if fL exists
// {
// // computes forces(ti,vi,qi)
// d->computeForces(told,qold,vold);
// double coef = -h*(1-_theta);
// // residuFree += coef * fL_i
// scal(coef, *d->forces(), *residuFree, false);
// // computes forces(ti+1, v_k,i+1, q_k,i+1) = forces(t,v,q)
// //d->computeForces(t);
// // or forces(ti+1, v_k,i+1, q(v_k,i+1))
// //or
// SP::SiconosVector qbasedonv(new SiconosVector(*qold));
// *qbasedonv += h*( (1-_theta)* *vold + _theta * *v );
// d->computeForces(t,qbasedonv,v);
// coef = -h*_theta;
// // residuFree += coef * fL_k,i+1
// scal(coef, *d->forces(), *residuFree, false);
// }
// if (d->boundaryConditions())
// {
// d->boundaryConditions()->computePrescribedVelocity(t);
// unsigned int columnindex=0;
// SP::SimpleMatrix WBoundaryConditions = _WBoundaryConditionsMap[ds];
// SP::SiconosVector columntmp(new SiconosVector(ds->getDim()));
// for (vector<unsigned int>::iterator itindex = d->boundaryConditions()->velocityIndices()->begin() ;
// itindex != d->boundaryConditions()->velocityIndices()->end();
// ++itindex)
// {
// double DeltaPrescribedVelocity =
// d->boundaryConditions()->prescribedVelocity()->getValue(columnindex)
// - vold->getValue(columnindex);
// WBoundaryConditions->getCol(columnindex,*columntmp);
// *residuFree -= *columntmp * (DeltaPrescribedVelocity);
// residuFree->setValue(*itindex, columntmp->getValue(*itindex) *(DeltaPrescribedVelocity));
// columnindex ++;
// }
// }
// *(d->workspace(DynamicalSystem::free))=*residuFree; // copy residuFree in Workfree
// // std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianDS residufree :" << std::endl;
// // residuFree->display();
// if (d->p(1))
// *(d->workspace(DynamicalSystem::free)) -= *d->p(1); // Compute Residu in Workfree Notation !!
// // std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianDS residu :" << std::endl;
// // d->workspace(DynamicalSystem::free)->display();
// normResidu = d->workspace(DynamicalSystem::free)->norm2();
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
// 2 - Lagrangian Linear Systems
else if (dsType == Type::LagrangianLinearTIDS)
{
// ResiduFree = M(-q_{k}+q_{k-1}) + h^2 (K q_k)+ h^2 C (\theta \Frac{q_k-q_{k-1}}{2h}+ (1-\theta) v_k)) (1)
// This formulae is only valid for the first computation of the residual for q = q_k
// otherwise the complete formulae must be applied, that is
// ResiduFree M(q-2q_{k}+q_{k-1}) + h^2 (K(\theta q+ (1-\theta) q_k)))+ h^2 C (\theta \Frac{q-q_{k-1}}{2h}+ (1-\theta) v_k)) (2)
// for q != q_k, the formulae (1) is wrong.
// in the sequel, only the equation (1) is implemented
// -- Convert the DS into a Lagrangian one.
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
// Get state i (previous time step) from Memories -> var. indexed with "Old"
SP::SiconosVector q_k = d->qMemory()->getSiconosVector(0); // q_k
SP::SiconosVector q_k_1 = d->qMemory()->getSiconosVector(1); // q_{k-1}
SP::SiconosVector v_k = d->velocityMemory()->getSiconosVector(0); //v_k
// std::cout << "SchatzmanPaoliOSI::computeResidu - q_k_1 =" <<std::endl;
// q_k_1->display();
// std::cout << "SchatzmanPaoliOSI::computeResidu - q_k =" <<std::endl;
// q_k->display();
// std::cout << "SchatzmanPaoliOSI::computeResidu - v_k =" <<std::endl;
// v_k->display();
// --- ResiduFree computation Equation (1) ---
residuFree->zero();
double coeff;
// -- No need to update W --
//SP::SiconosVector v = d->velocity(); // v = v_k,i+1
SP::SiconosMatrix M = d->mass();
prod(*M, (*q_k_1 - *q_k), *residuFree); // residuFree = M(-q_{k}+q_{k-1})
SP::SiconosMatrix K = d->K();
if (K)
{
prod(h * h, *K, *q_k, *residuFree, false); // residuFree += h^2*K*qi
}
SP::SiconosMatrix C = d->C();
if (C)
prod(h * h, *C, (1.0 / (2.0 * h)*_theta * (*q_k - *q_k_1) + (1.0 - _theta)* *v_k) , *residuFree, false);
// residufree += h^2 C (\theta \Frac{q-q_{k-1}}{2h}+ (1-\theta) v_k))
SP::SiconosVector Fext = d->fExt();
if (Fext)
{
// computes Fext(ti)
d->computeFExt(told);
coeff = -h * h * (1 - _theta);
scal(coeff, *Fext, *residuFree, false); // residufree -= h^2*(1-_theta) * fext(ti)
// computes Fext(ti+1)
d->computeFExt(t);
coeff = -h * h * _theta;
scal(coeff, *Fext, *residuFree, false); // residufree -= h^2*_theta * fext(ti+1)
}
// if (d->boundaryConditions())
// {
// d->boundaryConditions()->computePrescribedVelocity(t);
// unsigned int columnindex=0;
// SP::SimpleMatrix WBoundaryConditions = _WBoundaryConditionsMap[ds];
// SP::SiconosVector columntmp(new SiconosVector(ds->getDim()));
// for (vector<unsigned int>::iterator itindex = d->boundaryConditions()->velocityIndices()->begin() ;
// itindex != d->boundaryConditions()->velocityIndices()->end();
// ++itindex)
// {
// double DeltaPrescribedVelocity =
// d->boundaryConditions()->prescribedVelocity()->getValue(columnindex)
// -vold->getValue(columnindex);
// WBoundaryConditions->getCol(columnindex,*columntmp);
// *residuFree += *columntmp * (DeltaPrescribedVelocity);
// residuFree->setValue(*itindex, - columntmp->getValue(*itindex) *(DeltaPrescribedVelocity));
// columnindex ++;
// }
// }
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS residufree :" << std::endl;
// residuFree->display();
(* d->workspace(DynamicalSystem::free)) = *residuFree; // copy residuFree in Workfree
if (d->p(0))
*(d->workspace(DynamicalSystem::free)) -= *d->p(0); // Compute Residu in Workfree Notation !!
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS p(0) :" << std::endl;
// if (d->p(0))
// d->p(0)->display();
// else
// std::cout << " p(0) :" << std::endl;
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS residu :" << std::endl;
// d->workspace(DynamicalSystem::free)->display();
// normResidu = d->workspace(DynamicalSystem::free)->norm2();
normResidu = 0.0; // we assume that v = vfree + W^(-1) p
// normResidu = realresiduFree->norm2();
}
else if (dsType == Type::NewtonEulerDS)
{
// // residu = M(q*)(v_k,i+1 - v_i) - h*_theta*forces(t,v_k,i+1, q_k,i+1) - h*(1-_theta)*forces(ti,vi,qi) - pi+1
// // -- Convert the DS into a Lagrangian one.
// SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
// // Get state i (previous time step) from Memories -> var. indexed with "Old"
// SP::SiconosVector qold =d->qMemory()->getSiconosVector(0);
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// SP::SiconosVector q =d->q();
// SP::SiconosMatrix massMatrix = d->massMatrix();
// SP::SiconosVector v = d->velocity(); // v = v_k,i+1
// prod(*massMatrix, (*v-*vold), *residuFree); // residuFree = M(v - vold)
// if (d->forces()) // if fL exists
// {
// // computes forces(ti,vi,qi)
// SP::SiconosVector fLold=d->fLMemory()->getSiconosVector(0);
// double _thetaFL=0.5;
// double coef = -h*(1-_thetaFL);
// // residuFree += coef * fL_i
// scal(coef, *fLold, *residuFree, false);
// d->computeForces(t);
// // printf("cpmputeFreeState d->FL():\n");
// // d->forces()->display();
// coef = -h*_thetaFL;
// scal(coef, *d->forces(), *residuFree, false);
// }
// *(d->workspace(DynamicalSystem::free))=*residuFree;
// //cout<<"SchatzmanPaoliOSI::computeResidu :\n";
// // residuFree->display();
// if ( d->p(1) )
// *(d->workspace(DynamicalSystem::free)) -= *d->p(1);
// normResidu = d->workspace(DynamicalSystem::free)->norm2();
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
if (normResidu > maxResidu) maxResidu = normResidu;
}
return maxResidu;
}
void SchatzmanPaoliOSI::initialize(Model& m)
{
OneStepIntegrator::initialize(m);
// Get initial time
double t0 = _simulation->startingTime();
// Compute W(t0) for all ds
DynamicalSystemsGraph::VIterator dsi, dsend;
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
Type::Siconos dsType = Type::value(*ds);
if (dsType == Type::LagrangianLinearTIDS)
{
// Computation of the first step for starting
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
SP::SiconosVector q0 = d->q0();
SP::SiconosVector q = d->q();
SP::SiconosVector v0 = d->velocity0();
SP::SiconosVector velocity = d->velocity();
// std::cout << " q0 = " << std::endl;
// q0->display();
// std::cout << " v0 = " << std::endl;
// v0->display();
// We first swap the initial value contained in q and v after initialization.
d->qMemory()->swap(*q);
d->velocityMemory()->swap(*velocity);
// we compute the new state values
double h = _simulation->timeStep();
*q = *q0 + h* * v0;
//*velocity=*velocity; we do nothing for the velocity
// This value will swapped when OneStepIntegrator::saveInMemory will be called
// by the rest of Simulation::initialize (_eventsManager->preUpdate();)
// SP::SiconosVector qprev = d->qMemory()->getSiconosVector(0);
// SP::SiconosVector qprev2 = d->qMemory()->getSiconosVector(1);
// SP::SiconosVector vprev = d->velocityMemory()->getSiconosVector(0);
// std::cout << " qprev = " << std::endl;
// qprev->display();
// std::cout << " qprev2 = " << std::endl;
// qprev2->display();
// std::cout << " vprev = " << std::endl;
// vprev->display();
}
// Memory allocation for workX. workX[ds*] corresponds to xfree (or vfree in lagrangian case).
// workX[*itDS].reset(new SiconosVector((*itDS)->dimension()));
// W initialization
initW(t0, ds, *dsi);
// if ((*itDS)->getType() == Type::LagrangianDS || (*itDS)->getType() == Type::FirstOrderNonLinearDS)
ds->allocateWorkVector(DynamicalSystem::local_buffer,_dynamicalSystemsGraph->properties(*dsi).W->size(0));
}
}
void SchatzmanPaoliOSI::computeFreeState()
{
// This function computes "free" states of the DS belonging to this Integrator.
// "Free" means without taking non-smooth effects into account.
//double t = _simulation->nextTime(); // End of the time step
//double told = _simulation->startingTime(); // Beginning of the time step
//double h = t-told; // time step length
// Operators computed at told have index i, and (i+1) at t.
// Note: integration of r with a theta method has been removed
// SiconosVector *rold = static_cast<SiconosVector*>(d->rMemory()->getSiconosVector(0));
// Iteration through the set of Dynamical Systems.
//
SP::DynamicalSystem ds; // Current Dynamical System.
SP::SiconosMatrix W; // W SchatzmanPaoliOSI matrix of the current DS.
Type::Siconos dsType ; // Type of the current DS.
DynamicalSystemsGraph::VIterator dsi, dsend;
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
ds = _dynamicalSystemsGraph->bundle(*dsi);
dsType = Type::value(*ds); // Its type
W = _dynamicalSystemsGraph->properties(*dsi).W; // Its W SchatzmanPaoliOSI matrix of iteration.
//1 - Lagrangian Non Linear Systems
if (dsType == Type::LagrangianDS)
{
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
// 2 - Lagrangian Linear Systems
else if (dsType == Type::LagrangianLinearTIDS)
{
// IN to be updated at current time: Fext
// IN at told: qi,vi, fext
// IN constants: K,C
// Note: indices i/i+1 corresponds to value at the beginning/end of the time step.
// "i" values are saved in memory vectors.
// vFree = v_i + W^{-1} ResiduFree // with
// ResiduFree = (-h*C -h^2*theta*K)*vi - h*K*qi + h*theta * Fext_i+1 + h*(1-theta)*Fext_i
// -- Convert the DS into a Lagrangian one.
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
// Get state i (previous time step) from Memories -> var. indexed with "Old"
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0); // q_k
// SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); //v_k
// --- ResiduFree computation ---
// vFree pointer is used to compute and save ResiduFree in this first step.
// Velocity free and residu. vFree = RESfree (pointer equality !!).
SP::SiconosVector qfree = d->workspace(DynamicalSystem::free);//workX[d];
(*qfree) = *(d->workspace(DynamicalSystem::freeresidu));
W->PLUForwardBackwardInPlace(*qfree);
*qfree *= -1.0;
*qfree += *qold;
}
// 3 - Newton Euler Systems
else if (dsType == Type::NewtonEulerDS)
{
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeState - not yet implemented for Dynamical system type: " + dsType);
}
}
double SchatzmanPaoliOSI::computeResidu()
{
// This function is used to compute the residu for each "SchatzmanPaoliOSI-discretized" dynamical system.
// It then computes the norm of each of them and finally return the maximum
// value for those norms.
//
// The state values used are those saved in the DS, ie the last computed ones.
// $\mathcal R(x,r) = x - x_{k} -h\theta f( x , t_{k+1}) - h(1-\theta)f(x_k,t_k) - h r$
// $\mathcal R_{free}(x,r) = x - x_{k} -h\theta f( x , t_{k+1}) - h(1-\theta)f(x_k,t_k) $
double t = _simulation->nextTime(); // End of the time step
double told = _simulation->startingTime(); // Beginning of the time step
double h = t - told; // time step length
// Operators computed at told have index i, and (i+1) at t.
// Iteration through the set of Dynamical Systems.
//
SP::DynamicalSystem ds; // Current Dynamical System.
Type::Siconos dsType ; // Type of the current DS.
double maxResidu = 0;
double normResidu = maxResidu;
DynamicalSystemsGraph::VIterator dsi, dsend;
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
dsType = Type::value(*ds); // Its type
SP::SiconosVector residuFree = ds->workspace(DynamicalSystem::freeresidu);
// 1 - Lagrangian Non Linear Systems
if (dsType == Type::LagrangianDS)
{
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
// 2 - Lagrangian Linear Systems
else if (dsType == Type::LagrangianLinearTIDS)
{
// ResiduFree = M(-q_{k}+q_{k-1}) + h^2 (K q_k)+ h^2 C (\theta \Frac{q_k-q_{k-1}}{2h}+ (1-\theta) v_k)) (1)
// This formulae is only valid for the first computation of the residual for q = q_k
// otherwise the complete formulae must be applied, that is
// ResiduFree M(q-2q_{k}+q_{k-1}) + h^2 (K(\theta q+ (1-\theta) q_k)))+ h^2 C (\theta \Frac{q-q_{k-1}}{2h}+ (1-\theta) v_k)) (2)
// for q != q_k, the formulae (1) is wrong.
// in the sequel, only the equation (1) is implemented
// -- Convert the DS into a Lagrangian one.
SP::LagrangianLinearTIDS d = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
// Get state i (previous time step) from Memories -> var. indexed with "Old"
SP::SiconosVector q_k = d->qMemory()->getSiconosVector(0); // q_k
SP::SiconosVector q_k_1 = d->qMemory()->getSiconosVector(1); // q_{k-1}
SP::SiconosVector v_k = d->velocityMemory()->getSiconosVector(0); //v_k
// std::cout << "SchatzmanPaoliOSI::computeResidu - q_k_1 =" <<std::endl;
// q_k_1->display();
// std::cout << "SchatzmanPaoliOSI::computeResidu - q_k =" <<std::endl;
// q_k->display();
// std::cout << "SchatzmanPaoliOSI::computeResidu - v_k =" <<std::endl;
// v_k->display();
// --- ResiduFree computation Equation (1) ---
residuFree->zero();
double coeff;
// -- No need to update W --
//SP::SiconosVector v = d->velocity(); // v = v_k,i+1
SP::SiconosMatrix M = d->mass();
prod(*M, (*q_k_1 - *q_k), *residuFree); // residuFree = M(-q_{k}+q_{k-1})
SP::SiconosMatrix K = d->K();
if (K)
{
prod(h * h, *K, *q_k, *residuFree, false); // residuFree += h^2*K*qi
}
SP::SiconosMatrix C = d->C();
if (C)
prod(h * h, *C, (1.0 / (2.0 * h)*_theta * (*q_k - *q_k_1) + (1.0 - _theta)* *v_k) , *residuFree, false);
// residufree += h^2 C (\theta \Frac{q-q_{k-1}}{2h}+ (1-\theta) v_k))
SP::SiconosVector Fext = d->fExt();
if (Fext)
{
// computes Fext(ti)
d->computeFExt(told);
coeff = -h * h * (1 - _theta);
scal(coeff, *Fext, *residuFree, false); // residufree -= h^2*(1-_theta) * fext(ti)
// computes Fext(ti+1)
d->computeFExt(t);
coeff = -h * h * _theta;
scal(coeff, *Fext, *residuFree, false); // residufree -= h^2*_theta * fext(ti+1)
}
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS residufree :" << std::endl;
// residuFree->display();
(* d->workspace(DynamicalSystem::free)) = *residuFree; // copy residuFree in Workfree
if (d->p(0))
*(d->workspace(DynamicalSystem::free)) -= *d->p(0); // Compute Residu in Workfree Notation !!
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS p(0) :" << std::endl;
// if (d->p(0))
// d->p(0)->display();
// else
// std::cout << " p(0) :" << std::endl;
// std::cout << "SchatzmanPaoliOSI::ComputeResidu LagrangianLinearTIDS residu :" << std::endl;
// d->workspace(DynamicalSystem::free)->display();
// normResidu = d->workspace(DynamicalSystem::free)->norm2();
normResidu = 0.0; // we assume that v = vfree + W^(-1) p
// normResidu = realresiduFree->norm2();
}
else if (dsType == Type::NewtonEulerDS)
{
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
if (normResidu > maxResidu) maxResidu = normResidu;
}
return maxResidu;
}