void MoreauJeanDirectProjectionOSI::initializeWorkVectorsForDS( double t, SP::DynamicalSystem ds)
{
  DEBUG_BEGIN("MoreauJeanDirectProjectionOSI::initializeWorkVectorsForDS( double t, SP::DynamicalSystem ds) \n");
  MoreauJeanOSI::initializeWorkVectorsForDS(t, ds);
  const DynamicalSystemsGraph::VDescriptor& dsv = _dynamicalSystemsGraph->descriptor(ds);
  VectorOfVectors& workVectors = *_dynamicalSystemsGraph->properties(dsv).workVectors;
  Type::Siconos dsType = Type::value(*ds);
  if(dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
  {
    SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
    workVectors[MoreauJeanOSI::QTMP].reset(new SiconosVector(d->dimension()));
  }
  else if(dsType == Type::NewtonEulerDS)
  {
    SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS>(ds);
    workVectors[MoreauJeanOSI::QTMP].reset(new SiconosVector(d->getqDim()));
  }
  else
  {
    RuntimeException::selfThrow("MoreauJeanDirectProjectionOSI::initialize() - DS not of the right type");
  }
  for (unsigned int k = _levelMinForInput ; k < _levelMaxForInput + 1; k++)
  {
    DEBUG_PRINTF("ds->initializeNonSmoothInput(%i)\n", k);
    ds->initializeNonSmoothInput(k);
    DEBUG_EXPR_WE(
      SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
      if (d->p(k))
        std::cout << "d->p(" << k <<" ) exists" << std::endl;
      );

  }
Esempio n. 2
0
void SchatzmanPaoliOSI::initializeWorkVectorsForDS( double t, SP::DynamicalSystem ds)
{
  DEBUG_BEGIN("SchatzmanPaoliOSI::initializeWorkVectorsForDS( double t, SP::DynamicalSystem ds)\n");

  // Get work buffers from the graph
  VectorOfVectors& ds_work_vectors = *_initializeDSWorkVectors(ds);

  // Check dynamical system type
  Type::Siconos dsType = Type::value(*ds);
  assert(dsType == Type::LagrangianLinearTIDS);
  if(dsType == Type::LagrangianLinearTIDS)
  {
    SP::LagrangianLinearTIDS lltids = std11::static_pointer_cast<LagrangianLinearTIDS> (ds);
    // buffers allocation (inside the graph)

    ds_work_vectors.resize(SchatzmanPaoliOSI::WORK_LENGTH);
    ds_work_vectors[SchatzmanPaoliOSI::RESIDU_FREE].reset(new SiconosVector(lltids->dimension()));
    ds_work_vectors[SchatzmanPaoliOSI::FREE].reset(new SiconosVector(lltids->dimension()));
    ds_work_vectors[SchatzmanPaoliOSI::LOCAL_BUFFER].reset(new SiconosVector(lltids->dimension()));
    SP::SiconosVector q0  = lltids->q0();
    SP::SiconosVector q  = lltids->q();
    SP::SiconosVector v0  = lltids->velocity0();
    SP::SiconosVector velocity  = lltids->velocity();

    // We first swap the initial value contained in q and v after initialization.
    lltids->swapInMemory();

    // we compute the new state values
    double h = _simulation->timeStep();
    *q = *q0 + h* * v0;

    //*velocity=*velocity; we do nothing for the velocity
    lltids->swapInMemory();

  }
  // W initialization
  initializeIterationMatrixW(t, ds);

  for (unsigned int k = _levelMinForInput ; k < _levelMaxForInput + 1; k++)
  {
    ds->initializeNonSmoothInput(k);
  }


  //      if ((*itDS)->getType() == Type::LagrangianDS || (*itDS)->getType() == Type::FirstOrderNonLinearDS)
  DEBUG_EXPR(ds->display());
  DEBUG_END("SchatzmanPaoliOSI::initializeWorkVectorsForDS( double t, SP::DynamicalSystem ds)\n");

}
Esempio n. 3
0
void D1MinusLinearOSI::initializeWorkVectorsForDS(double t, SP::DynamicalSystem ds)
{
  // Get work buffers from the graph
  VectorOfVectors& ds_work_vectors = *_initializeDSWorkVectors(ds);

  // Check dynamical system type
  Type::Siconos dsType = Type::value(*ds);
  assert(dsType == Type::LagrangianLinearTIDS || dsType == Type::LagrangianDS || dsType == Type::NewtonEulerDS);
  
  if(dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
  {
    SP::LagrangianDS lds = std11::static_pointer_cast<LagrangianDS> (ds);
    lds->init_generalized_coordinates(2); // acceleration is required for the ds
    lds->init_inverse_mass(); // invMass required to update post-impact velocity

    ds_work_vectors.resize(D1MinusLinearOSI::WORK_LENGTH);
    ds_work_vectors[D1MinusLinearOSI::RESIDU_FREE].reset(new SiconosVector(lds->dimension()));
    ds_work_vectors[D1MinusLinearOSI::FREE].reset(new SiconosVector(lds->dimension()));
    ds_work_vectors[D1MinusLinearOSI::FREE_TDG].reset(new SiconosVector(lds->dimension()));
    // Update dynamical system components (for memory swap).
    lds->computeForces(t, lds->q(), lds->velocity());
    lds->swapInMemory();
  }
  else if(dsType == Type::NewtonEulerDS)
  {
    SP::NewtonEulerDS neds = std11::static_pointer_cast<NewtonEulerDS> (ds);
    neds->init_inverse_mass(); // invMass required to update post-impact velocity
    ds_work_vectors.resize(D1MinusLinearOSI::WORK_LENGTH);
    ds_work_vectors[D1MinusLinearOSI::RESIDU_FREE].reset(new SiconosVector(neds->dimension()));
    ds_work_vectors[D1MinusLinearOSI::FREE].reset(new SiconosVector(neds->dimension()));
    ds_work_vectors[D1MinusLinearOSI::FREE_TDG].reset(new SiconosVector(neds->dimension()));
    //Compute a first value of the forces to store it in _forcesMemory
    neds->computeForces(t, neds->q(), neds->twist());
    neds->swapInMemory();
  }
  else
    RuntimeException::selfThrow("D1MinusLinearOSI::initialize - not implemented for Dynamical system type: " + dsType);

  for (unsigned int k = _levelMinForInput ; k < _levelMaxForInput + 1; k++)
  {
    ds->initializeNonSmoothInput(k);
  }

}