void KernelTest::t6()
{
SP::Model bouncingBall = Siconos::load("BouncingBall1.xml");
try
{
double T = bouncingBall->finalT();
double t0 = bouncingBall->t0();
double h = bouncingBall->simulation()->timeStep();
int N = (int)((T - t0) / h); // Number of time steps
SP::DynamicalSystemsGraph dsg =
bouncingBall->nonSmoothDynamicalSystem()->topology()->dSG(0);
SP::LagrangianDS ball = std11::static_pointer_cast<LagrangianDS>
(dsg->bundle(*(dsg->begin())));
SP::TimeStepping s = std11::static_pointer_cast<TimeStepping>(bouncingBall->simulation());
SP::Interaction inter;
InteractionsGraph::VIterator ui, uiend;
SP::InteractionsGraph indexSet0 = bouncingBall->nonSmoothDynamicalSystem()->topology()->indexSet(0);
for (std11::tie(ui, uiend) = indexSet0->vertices(); ui != uiend; ++ui)
inter = indexSet0->bundle(*ui);
// --- Get the values to be plotted ---
// -> saved in a matrix dataPlot
unsigned int outputSize = 5;
SimpleMatrix dataPlot(N + 1, outputSize);
SP::SiconosVector q = ball->q();
SP::SiconosVector v = ball->velocity();
SP::SiconosVector p = ball->p(1);
SP::SiconosVector lambda = inter->lambda(1);
dataPlot(0, 0) = bouncingBall->t0();
dataPlot(0, 1) = (*q)(0);
dataPlot(0, 2) = (*v)(0);
dataPlot(0, 3) = (*p)(0);
dataPlot(0, 4) = (*lambda)(0);
// --- Time loop ---
cout << "====> Start computation ... " << endl << endl;
// ==== Simulation loop - Writing without explicit event handling =====
int k = 1;
boost::progress_display show_progress(N);
boost::timer time;
time.restart();
while (s->hasNextEvent())
{
s->computeOneStep();
// --- Get values to be plotted ---
dataPlot(k, 0) = s->nextTime();
dataPlot(k, 1) = (*q)(0);
dataPlot(k, 2) = (*v)(0);
dataPlot(k, 3) = (*p)(0);
dataPlot(k, 4) = (*lambda)(0);
s->nextStep();
++show_progress;
k++;
}
cout << endl << "End of computation - Number of iterations done: " << k - 1 << endl;
cout << "Computation Time " << time.elapsed() << endl;
// --- Output files ---
cout << "====> Output file writing ..." << endl;
dataPlot.resize(k, outputSize);
ioMatrix::write("result.dat", "ascii", dataPlot, "noDim");
// Comparison with a reference file
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
ioMatrix::read("result.ref", "ascii", dataPlotRef);
if ((dataPlot - dataPlotRef).normInf() > 1e-12)
{
std::cout <<
"Warning. The results is rather different from the reference file :"
<<
(dataPlot - dataPlotRef).normInf()
<<
std::endl;
CPPUNIT_ASSERT(false);
}
}
catch (SiconosException e)
{
cout << e.report() << endl;
CPPUNIT_ASSERT(false);
}
catch (...)
{
cout << "Exception caught in BouncingBallTS.cpp" << endl;
CPPUNIT_ASSERT(false);
}
}
void Simulation::initialize(SP::Model m, bool withOSI)
{
// === Connection with the model ===
assert(m && "Simulation::initialize(model) - model = NULL.");
_T = m->finalT();
_nsds = m->nonSmoothDynamicalSystem();
// === Events manager initialization ===
_eventsManager->initialize(_T);
_tinit = _eventsManager->startingTime();
//===
if (withOSI)
{
if (numberOfOSI() == 0)
RuntimeException::selfThrow("Simulation::initialize No OSI !");
DynamicalSystemsGraph::VIterator dsi, dsend;
SP::DynamicalSystemsGraph DSG = _nsds->topology()->dSG(0);
for (std11::tie(dsi, dsend) = DSG->vertices(); dsi != dsend; ++dsi)
{
SP::OneStepIntegrator osi = DSG->properties(*dsi).osi;
SP::DynamicalSystem ds = DSG->bundle(*dsi);
if (!osi)
{
// By default, if the user has not set the OSI, we assign the first OSI to all DS
_nsds->topology()->setOSI(ds,*_allOSI->begin());
//std::cout << "By default, if the user has not set the OSI, we assign the first OSI to all DS"<<std::endl;
}
osi = DSG->properties(*dsi).osi;
ds->initialize(m->t0(), osi->getSizeMem());
}
// === OneStepIntegrators initialization ===
for (OSIIterator itosi = _allOSI->begin();
itosi != _allOSI->end(); ++itosi)
{
// for (DSIterator itds = (*itosi)->dynamicalSystems()->begin();
// itds != (*itosi)->dynamicalSystems()->end();
// ++itds)
// {
// (*itds)->initialize(startingTime(),
// (*itosi)->getSizeMem());
// addInOSIMap(*itds, *itosi);
// }
(*itosi)->setSimulationPtr(shared_from_this());
(*itosi)->initialize(*m);
}
}
// This is the default
_levelMinForInput = LEVELMAX;
_levelMaxForInput = 0;
_levelMinForOutput = LEVELMAX;
_levelMaxForOutput = 0;
computeLevelsForInputAndOutput();
// Loop over all DS in the graph, to reset NS part of each DS.
// Note FP : this was formerly done in inter->initialize call with local levels values
// but I think it's ok (better?) to do it with the simulation levels values.
DynamicalSystemsGraph::VIterator dsi, dsend;
SP::DynamicalSystemsGraph DSG = _nsds->topology()->dSG(0);
for (std11::tie(dsi, dsend) = DSG->vertices(); dsi != dsend; ++dsi)
{
//assert(_levelMinForInput <= _levelMaxForInput);
for (unsigned int k = _levelMinForInput ; k < _levelMaxForInput + 1; k++)
{
DSG->bundle(*dsi)->initializeNonSmoothInput(k);
}
}
InteractionsGraph::VIterator ui, uiend;
SP::InteractionsGraph indexSet0 = _nsds->topology()->indexSet0();
for (std11::tie(ui, uiend) = indexSet0->vertices(); ui != uiend; ++ui)
{
Interaction& inter = *indexSet0->bundle(*ui);
inter.initialize(_tinit, indexSet0->properties(*ui));
}
// Initialize OneStepNSProblem(s). Depends on the type of simulation.
// Warning FP : must be done in any case, even if the interactions set
// is empty.
initOSNS();
// Process events at time _tinit. Useful to save values in memories
// for example. Warning: can not be called during
// eventsManager->initialize, because it needs the initialization of
// OSI, OSNS ...
_eventsManager->preUpdate(*this);
_tend = _eventsManager->nextTime();
// End of initialize:
// - all OSI and OSNS (ie DS and Interactions) states are computed
// - for time _tinit and saved into memories.
// - Sensors or related objects are updated for t=_tinit.
// - current time of the model is equal to t1, time of the first
// - event after _tinit.
// - currentEvent of the simu. corresponds to _tinit and nextEvent
// - to _tend.
// If _printStat is true, open output file.
if (_printStat)
{
statOut.open("simulationStat.dat", std::ios::out | std::ios::trunc);
if (!statOut.is_open())
SiconosVectorException::selfThrow("writing error : Fail to open file simulationStat.dat ");
statOut << "============================================" <<std::endl;
statOut << " Siconos Simulation of type " << Type::name(*this) << "." <<std::endl;
statOut <<std::endl;
statOut << "The tolerance parameter is equal to: " << _tolerance <<std::endl;
statOut <<std::endl <<std::endl;
}
}
void KernelTest::t5()
{
// ================= Creation of the model =======================
// User-defined main parameters
unsigned int nDof = 3; // degrees of freedom for the ball
double t0 = 0; // initial computation time
double T = 10; // final computation time
double h = 0.005; // time step
double position_init = 1.0; // initial position for lowest bead.
double velocity_init = 0.0; // initial velocity for lowest bead.
double theta = 0.5; // theta for MoreauJeanOSI integrator
double R = 0.1; // Ball radius
double m = 1; // Ball mass
double g = 9.81; // Gravity
// -------------------------
// --- Dynamical systems ---
// -------------------------
cout << "====> Model loading ..." << endl << endl;
SP::SiconosMatrix Mass(new SimpleMatrix(nDof, nDof));
(*Mass)(0, 0) = m;
(*Mass)(1, 1) = m;
(*Mass)(2, 2) = 3. / 5 * m * R * R;
// -- Initial positions and velocities --
SP::SiconosVector q0(new SiconosVector(nDof));
SP::SiconosVector v0(new SiconosVector(nDof));
(*q0)(0) = position_init;
(*v0)(0) = velocity_init;
// -- The dynamical system --
SP::LagrangianLinearTIDS ball(new LagrangianLinearTIDS(q0, v0, Mass));
// -- Set external forces (weight) --
SP::SiconosVector weight(new SiconosVector(nDof));
(*weight)(0) = -m * g;
ball->setFExtPtr(weight);
// --------------------
// --- Interactions ---
// --------------------
// -- nslaw --
double e = 0.9;
// Interaction ball-floor
//
SP::SimpleMatrix H(new SimpleMatrix(1, nDof));
(*H)(0, 0) = 1.0;
SP::NonSmoothLaw nslaw(new NewtonImpactNSL(e));
SP::Relation relation(new LagrangianLinearTIR(H));
SP::Interaction inter(new Interaction(1, nslaw, relation));
// -------------
// --- Model ---
// -------------
SP::Model bouncingBall(new Model(t0, T));
// add the dynamical system in the non smooth dynamical system
bouncingBall->nonSmoothDynamicalSystem()->insertDynamicalSystem(ball);
// link the interaction and the dynamical system
bouncingBall->nonSmoothDynamicalSystem()->link(inter, ball);
// ------------------
// --- Simulation ---
// ------------------
// -- (1) OneStepIntegrators --
SP::MoreauJeanOSI OSI(new MoreauJeanOSI(theta));
bouncingBall->nonSmoothDynamicalSystem()->setOSI(ball, OSI);
// -- (2) Time discretisation --
SP::TimeDiscretisation t(new TimeDiscretisation(t0, h));
// -- (3) one step non smooth problem
SP::OneStepNSProblem osnspb(new LCP());
// -- (4) Simulation setup with (1) (2) (3)
SP::TimeStepping s(new TimeStepping(t, OSI, osnspb));
// =========================== End of model definition ===========================
// ================================= Computation =================================
// --- Simulation initialization ---
cout << "====> Initialisation ..." << endl << endl;
bouncingBall->initialize(s);
Siconos::save(bouncingBall, "BouncingBall1.xml");
SP::Model bouncingBallFromFile = Siconos::load("BouncingBall1.xml");
CPPUNIT_ASSERT((bouncingBallFromFile->t0() == bouncingBall->t0()));
// in depth comparison?
// now we should try to run the bouncing ball from file
// BUT: non serialized members => must be initialized or serialized
}