Example #1
0
void EventDriven::insertIntegrator(SP::OneStepIntegrator osi)
{
  Simulation::insertIntegrator(osi);
  // Determine the number of OneStepNSproblems depending on the OneStepIntegrator type
  OSI::TYPES  osiType = osi->getType();
  if (osiType == OSI::NEWMARKALPHAOSI) // EventDrivent asscociated with NewMarkAlpha
  {
    _numberOfOneStepNSproblems = 3;
    if (_allNSProblems->size() != 3)
    {
      (*_allNSProblems).resize(_numberOfOneStepNSproblems);
    }
  }
}
Example #2
0
void LinearOSNS::computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor& vd)
{
  DEBUG_BEGIN("LinearOSNS::computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor& vd)\n");

  // Computes matrix _interactionBlocks[inter1][inter1] (and allocates memory if
  // necessary) one or two DS are concerned by inter1 .  How
  // _interactionBlocks are computed depends explicitely on the type of
  // Relation of each Interaction.

  // Warning: we suppose that at this point, all non linear
  // operators (G for lagrangian relation for example) have been
  // computed through plug-in mechanism.

  // Get dimension of the NonSmoothLaw (ie dim of the interactionBlock)
  SP::InteractionsGraph indexSet = simulation()->indexSet(indexSetLevel());
  SP::Interaction inter = indexSet->bundle(vd);
  // Get osi property from interaction
  // We assume that all ds in vertex_inter have the same osi.
  SP::OneStepIntegrator Osi = indexSet->properties(vd).osi;
  //SP::OneStepIntegrator Osi = simulation()->integratorOfDS(ds);
  OSI::TYPES  osiType = Osi->getType();


  // At most 2 DS are linked by an Interaction
  SP::DynamicalSystem DS1;
  SP::DynamicalSystem DS2;
  unsigned int pos1, pos2;
  // --- Get the dynamical system(s) (edge(s)) connected to the current interaction (vertex) ---
  if (indexSet->properties(vd).source != indexSet->properties(vd).target)
  {
    DEBUG_PRINT("a two DS Interaction\n");
    DS1 = indexSet->properties(vd).source;
    DS2 = indexSet->properties(vd).target;
  }
  else
  {
    DEBUG_PRINT("a single DS Interaction\n");
    DS1 = indexSet->properties(vd).source;
    DS2 = DS1;
    // \warning this looks like some debug code, but it gets executed even with NDEBUG.
    // may be compiler does something smarter, but still it should be rewritten. --xhub
    InteractionsGraph::OEIterator oei, oeiend;
    for (std11::tie(oei, oeiend) = indexSet->out_edges(vd);
         oei != oeiend; ++oei)
    {
      // note : at most 4 edges
      DS2 = indexSet->bundle(*oei);
      if (DS2 != DS1)
      {
        assert(false);
        break;
      }
    }
  }
  assert(DS1);
  assert(DS2);
  pos1 = indexSet->properties(vd).source_pos;
  pos2 = indexSet->properties(vd).target_pos;

  // --- Check block size ---
  assert(indexSet->properties(vd).block->size(0) == inter->nonSmoothLaw()->size());
  assert(indexSet->properties(vd).block->size(1) == inter->nonSmoothLaw()->size());

  // --- Compute diagonal block ---
  // Block to be set in OSNS Matrix, corresponding to
  // the current interaction
  SP::SiconosMatrix currentInteractionBlock = indexSet->properties(vd).block;
  SP::SiconosMatrix leftInteractionBlock, rightInteractionBlock;

  RELATION::TYPES relationType;
  double h = simulation()->currentTimeStep();

  // General form of the interactionBlock is : interactionBlock =
  // a*extraInteractionBlock + b * leftInteractionBlock * centralInteractionBlocks
  // * rightInteractionBlock a and b are scalars, centralInteractionBlocks a
  // matrix depending on the integrator (and on the DS), the
  // simulation type ...  left, right and extra depend on the relation
  // type and the non smooth law.
  relationType = inter->relation()->getType();
  VectorOfSMatrices& workMInter = *indexSet->properties(vd).workMatrices;

  inter->getExtraInteractionBlock(currentInteractionBlock, workMInter);

  unsigned int nslawSize = inter->nonSmoothLaw()->size();
  // loop over the DS connected to the interaction.
  bool endl = false;
  unsigned int pos = pos1;
  for (SP::DynamicalSystem ds = DS1; !endl; ds = DS2)
  {
    assert(ds == DS1 || ds == DS2);
    endl = (ds == DS2);
    unsigned int sizeDS = ds->dimension();
    // get _interactionBlocks corresponding to the current DS
    // These _interactionBlocks depends on the relation type.
    leftInteractionBlock.reset(new SimpleMatrix(nslawSize, sizeDS));
    inter->getLeftInteractionBlockForDS(pos, leftInteractionBlock, workMInter);
    DEBUG_EXPR(leftInteractionBlock->display(););
    // Computing depends on relation type -> move this in Interaction method?
    if (relationType == FirstOrder)
    {

      rightInteractionBlock.reset(new SimpleMatrix(sizeDS, nslawSize));

      inter->getRightInteractionBlockForDS(pos, rightInteractionBlock, workMInter);

      if (osiType == OSI::EULERMOREAUOSI)
      {
        if ((std11::static_pointer_cast<EulerMoreauOSI> (Osi))->useGamma() || (std11::static_pointer_cast<EulerMoreauOSI> (Osi))->useGammaForRelation())
        {
          *rightInteractionBlock *= (std11::static_pointer_cast<EulerMoreauOSI> (Osi))->gamma();
        }
      }

      // for ZOH, we have a different formula ...
      if (osiType == OSI::ZOHOSI && indexSet->properties(vd).forControl)
      {
        *rightInteractionBlock = std11::static_pointer_cast<ZeroOrderHoldOSI>(Osi)->Bd(ds);
        prod(*leftInteractionBlock, *rightInteractionBlock, *currentInteractionBlock, false);
      }
      else
      {
        // centralInteractionBlock contains a lu-factorized matrix and we solve
        // centralInteractionBlock * X = rightInteractionBlock with PLU
        SP::SiconosMatrix centralInteractionBlock = getOSIMatrix(Osi, ds);
        centralInteractionBlock->PLUForwardBackwardInPlace(*rightInteractionBlock);
        inter->computeKhat(*rightInteractionBlock, workMInter, h); // if K is non 0

        //      integration of r with theta method removed
        //      *currentInteractionBlock += h *Theta[*itDS]* *leftInteractionBlock * (*rightInteractionBlock); //left = C, right = W.B
        //gemm(h,*leftInteractionBlock,*rightInteractionBlock,1.0,*currentInteractionBlock);
        *leftInteractionBlock *= h;
        prod(*leftInteractionBlock, *rightInteractionBlock, *currentInteractionBlock, false);
        //left = C, right = inv(W).B
      }

    }
    else if (relationType == Lagrangian ||
             relationType == NewtonEuler)
    {

      SP::BoundaryCondition bc;
      Type::Siconos dsType = Type::value(*ds);
      if (dsType == Type::LagrangianLinearTIDS || dsType == Type::LagrangianDS)
      {
        SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
        if (d->boundaryConditions()) bc = d->boundaryConditions();
      }
      else if (dsType == Type::NewtonEulerDS)
      {
        SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
        if (d->boundaryConditions()) bc = d->boundaryConditions();
      }
      if (bc)
      {
        for (std::vector<unsigned int>::iterator itindex = bc->velocityIndices()->begin() ;
             itindex != bc->velocityIndices()->end();
             ++itindex)
        {
          // (nslawSize,sizeDS));
          SP::SiconosVector coltmp(new SiconosVector(nslawSize));
          coltmp->zero();
          leftInteractionBlock->setCol(*itindex, *coltmp);
        }
      }
      DEBUG_PRINT("leftInteractionBlock after application of boundary conditions\n");
      DEBUG_EXPR(leftInteractionBlock->display(););