Exemplo n.º 1
0
void EventDriven::computeJacobianfx(OneStepIntegrator& osi,
                                    integer *sizeOfX,
                                    doublereal *time,
                                    doublereal *x,
                                    doublereal *jacob)
{
  assert((osi.getType() == OSI::LSODAROSI) &&
    "EventDriven::computeJacobianfx(osi, ...), not yet implemented for a one step integrator of type " + osi.getType());

  LsodarOSI& lsodar = static_cast<LsodarOSI&>(osi);

  // Remark A: according to DLSODAR doc, each call to jacobian is
  // preceded by a call to f with the same arguments NEQ, T, and Y.
  // Thus to gain some efficiency, intermediate quantities shared by
  // both calculations may be saved in class members?  fill in xWork
  // vector (ie all the x of the ds of this osi) with x fillXWork(x);
  // -> copy
  // Maybe this step is not necessary?  because of
  // remark A above

  // Compute the jacobian of the vector field according to x for the
  // current ds
  double t = *time;
  lsodar.computeJacobianRhs(t, *_DSG0);

  // Save jacobianX values from dynamical system into current jacob
  // (in-out parameter)

  unsigned int i = 0;
  unsigned pos = 0;
  DynamicalSystemsGraph::VIterator dsi, dsend;
  SP::DynamicalSystemsGraph osiDSGraph = lsodar.dynamicalSystemsGraph();
  for (std11::tie(dsi, dsend) = osiDSGraph->vertices(); dsi != dsend; ++dsi)
  {
    if (!(lsodar.checkOSI(dsi))) continue;

    DynamicalSystem& ds = *(osiDSGraph->bundle(*dsi));
    Type::Siconos dsType = Type::value(ds);
    if (dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
    {
      LagrangianDS& lds = static_cast<LagrangianDS&>(ds);
      BlockMatrix& jacotmp = *lds.jacobianRhsx();
      for (unsigned int j = 0; j < lds.n(); ++j)
      {
        for (unsigned int k = 0; k < lds.dimension(); ++k)
          jacob[i++] = jacotmp(k, j);
      }
    }
    else if(dsType == Type::FirstOrderNonLinearDS || dsType == Type::FirstOrderLinearDS
        || dsType == Type::FirstOrderLinearTIDS)
    {
      SimpleMatrix& jacotmp = static_cast<SimpleMatrix&>(*(ds.jacobianRhsx())); // Pointer link !
      pos += jacotmp.copyData(&jacob[pos]);
    }
    else
    {
      RuntimeException::selfThrow("EventDriven::computeJacobianfx, type of DynamicalSystem not yet supported.");
    }
  }
}
Exemplo n.º 2
0
void EventDriven::initOSIs()
{
  for (OSIIterator itosi = _allOSI->begin();  itosi != _allOSI->end(); ++itosi)
  {
    // Initialize the acceleration like for NewMarkAlphaScheme
    if ((*itosi)->getType() == OSI::NEWMARKALPHAOSI)
    {
      SP::NewMarkAlphaOSI osi_NewMark =  std11::static_pointer_cast<NewMarkAlphaOSI>(*itosi);
      DynamicalSystemsGraph::VIterator dsi, dsend;
      SP::DynamicalSystemsGraph osiDSGraph = (*itosi)->dynamicalSystemsGraph();
      for (std11::tie(dsi, dsend) = osiDSGraph->vertices(); dsi != dsend; ++dsi)
      {
        if (!(*itosi)->checkOSI(dsi)) continue;
        SP::DynamicalSystem ds = osiDSGraph->bundle(*dsi);
        if ((Type::value(*ds) == Type::LagrangianDS) || (Type::value(*ds) == Type::LagrangianLinearTIDS))
        {
          SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS>(ds);
          *(d->workspace(DynamicalSystem::acce_like)) = *(d->acceleration()); // set a0 = ddotq0
          // Allocate the memory to stock coefficients of the polynomial for the dense output
          d->allocateWorkMatrix(LagrangianDS::coeffs_denseoutput, ds->dimension(), (osi_NewMark->getOrderDenseOutput() + 1));
        }
      }
    }
  }
}
Exemplo n.º 3
0
std::vector<SP::DynamicalSystem> dynamicalSystems(SP::DynamicalSystemsGraph dsg)
{
    std::vector<SP::DynamicalSystem> r = std::vector<SP::DynamicalSystem>();
    DynamicalSystemsGraph::VIterator vi, viend;
    for (boost::tie(vi, viend) = dsg->vertices(); vi != viend; ++vi)
    {
        r.push_back(dsg->bundle(*vi));
    };
    return r;
};
Exemplo n.º 4
0
void TimeStepping::initializeNewtonLoop()
{
  DEBUG_BEGIN("TimeStepping::initializeNewtonLoop()\n");
  double tkp1 = getTkp1();
  assert(!isnan(tkp1));

  for (OSIIterator it = _allOSI->begin(); it != _allOSI->end() ; ++it)
  {
    (*it)->computeInitialNewtonState();
    (*it)->computeResidu();
  }

  // Predictive contact -- update initial contacts after updating DS positions
  updateWorldFromDS();
  updateInteractions();

  // Changes in updateInteractions may require initialization
  initializeNSDSChangelog();

  SP::InteractionsGraph indexSet0 = _nsds->topology()->indexSet0();
  if (indexSet0->size()>0)
  {
    for (OSIIterator itOSI = _allOSI->begin(); itOSI != _allOSI->end() ; ++itOSI)
    {
      (*itOSI)->updateOutput(nextTime());
      (*itOSI)->updateInput(nextTime());
    }
  }

  SP::DynamicalSystemsGraph dsGraph = _nsds->dynamicalSystems();
  for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
  {
    dsGraph->bundle(*vi)->updatePlugins(tkp1);
  }

  for (OSIIterator it = _allOSI->begin(); it != _allOSI->end() ; ++it)
    (*it)->computeResidu();

  if (_computeResiduY)
  {
    for (OSIIterator itOSI = _allOSI->begin(); itOSI != _allOSI->end() ; ++itOSI)
    {
      (*itOSI)->computeResiduOutput(tkp1, indexSet0);
    }
  }
  DEBUG_END("TimeStepping::initializeNewtonLoop()\n");
}
Exemplo n.º 5
0
std::vector<std::pair<unsigned int, unsigned int> >
graphLayoutInt(SP::DynamicalSystemsGraph dsg)
{

    std::vector<std::pair<unsigned int, unsigned int> > r =
        std::vector<std::pair<unsigned int, unsigned int> >();

    DynamicalSystemsGraph::EIterator ei, eiend;

    for (boost::tie(ei, eiend) = dsg->edges(); ei != eiend; ++ei)
    {
        std::pair<unsigned int, unsigned int>
        p(dsg->bundle(dsg->source(*ei))->number(),
          dsg->bundle(dsg->target(*ei))->number());
        r.push_back(p);
    };
    return r;
};
Exemplo n.º 6
0
void Simulation::processEvents()
{
  _eventsManager->processEvents(*this);

  if (_eventsManager->hasNextEvent())
  {
    // For TimeStepping Scheme, need to update IndexSets, but not for EventDriven scheme
    if (Type::value(*this) != Type::EventDriven)
    {
      updateIndexSets();
    }
  }

  /* should be evaluated only if needed */
  SP::DynamicalSystemsGraph dsGraph = _nsds->dynamicalSystems();
  for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
  {
    dsGraph->bundle(*vi)->endStep();
  }

}
Exemplo n.º 7
0
void EventDriven::initOSIRhs()
{
  // === initialization for OneStepIntegrators ===
  OSI::TYPES  osiType = (*_allOSI->begin())->getType();
  for (OSIIterator itosi = _allOSI->begin();  itosi != _allOSI->end(); ++itosi)
  {
    //Check whether OSIs used are of the same type
    if ((*itosi)->getType() != osiType)
      RuntimeException::selfThrow("OSIs used must be of the same type");

    // perform the initialization
    DynamicalSystemsGraph::VIterator dsi, dsend;
    SP::DynamicalSystemsGraph osiDSGraph = (*itosi)->dynamicalSystemsGraph();
    for (std11::tie(dsi, dsend) = osiDSGraph->vertices(); dsi != dsend; ++dsi)
    {
      if (!(*itosi)->checkOSI(dsi)) continue;

      SP::DynamicalSystem ds = osiDSGraph->bundle(*dsi);
      // Initialize right-hand side
      ds->initRhs(startingTime());
    }
  }
}
Exemplo n.º 8
0
void Simulation::initialize(SP::Model m, bool withOSI)
{
  // === Connection with the model ===
  assert(m && "Simulation::initialize(model) - model = NULL.");
  _model = std11::weak_ptr<Model>(m);

  _T = m->finalT();

  // === Events manager initialization ===
  _eventsManager->initialize(_T);
  _tinit = _eventsManager->startingTime();
  //===
  if (withOSI)
  {
    if (numberOfOSI() == 0)
      RuntimeException::selfThrow("Simulation::initialize No OSI !");
    // === OneStepIntegrators initialization ===
    for (OSIIterator itosi = _allOSI->begin();
         itosi != _allOSI->end(); ++itosi)
    {

      for (DSIterator itds = (*itosi)->dynamicalSystems()->begin();
           itds != (*itosi)->dynamicalSystems()->end();
           ++itds)
      {
        (*itds)->initialize(model()->t0(),
                            (*itosi)->getSizeMem());
        addInOSIMap(*itds, *itosi);
      }

      (*itosi)->setSimulationPtr(shared_from_this());
      (*itosi)->initialize();

    }
  }

  // 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 = model()->nonSmoothDynamicalSystem()->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 = model()->nonSmoothDynamicalSystem()->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();

  // Set Model current time (warning: current time of the model
  // corresponds to the time of the next event to be treated).
  model()->setCurrentTime(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;
  }
}
Exemplo n.º 9
0
void EventDriven::computef(OneStepIntegrator& osi, integer * sizeOfX, doublereal * time, doublereal * x, doublereal * xdot)
{
  // computeF is supposed to fill xdot in, using the definition of the
  // dynamical systems belonging to the osi

  // Check osi type: only lsodar is allowed.
  assert((osi.getType() == OSI::LSODAROSI) && "EventDriven::computef(osi, ...), not yet implemented for a one step integrator of type " + osi.getType());

  LsodarOSI& lsodar = static_cast<LsodarOSI&>(osi);
  // fill in xWork vector (ie all the x of the ds of this osi) with x
  lsodar.fillXWork(sizeOfX, x);

  double t = *time;
  // Update Jacobian matrices at all interactions
  InteractionsGraph::VIterator ui, uiend;
  for (std11::tie(ui, uiend) = _indexSet0->vertices(); ui != uiend; ++ui)
  {
    Interaction& inter = *_indexSet0->bundle(*ui);
    inter.relation()->computeJach(t, inter, _indexSet0->properties(*ui));
  }

  // solve a LCP at "acceleration" level if required
  if (!_allNSProblems->empty())
  {
    if (((*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC]->hasInteractions()))
    {
      // Update the state of the DS
      (*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC]->compute(t);
      _nsds->updateInput(t,2); // Necessary to compute DS state below
    }
    // Compute the right-hand side ( xdot = f + r in DS) for all the
    //ds, with the new value of input.  lsodar->computeRhs(t);
  }

  // update the DS of the OSI.
  lsodar.computeRhs(t, *_DSG0);
  //  for the DS state, ie the ones computed by lsodar (x above)
  // Update Index sets? No !!

  // Get the required value, ie xdot for output.
  unsigned pos = 0;

  DynamicalSystemsGraph::VIterator dsi, dsend;
  SP::DynamicalSystemsGraph osiDSGraph = lsodar.dynamicalSystemsGraph();
  for (std11::tie(dsi, dsend) = osiDSGraph->vertices(); dsi != dsend; ++dsi)
  {
    if (!(lsodar.checkOSI(dsi))) continue;

    DynamicalSystem& ds = *(osiDSGraph->bundle(*dsi));
    Type::Siconos dsType = Type::value(ds);
    if (dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
    {
      LagrangianDS& LDS = static_cast<LagrangianDS&>(ds);
      SiconosVector& qDotTmp = *LDS.velocity();
      SiconosVector& qDotDotTmp = *LDS.acceleration();
      pos += qDotTmp.copyData(&xdot[pos]);
      pos += qDotDotTmp.copyData(&xdot[pos]);
    }
    else
    {
      SiconosVector& xtmp2 = ds.getRhs(); // Pointer link !
      pos += xtmp2.copyData(&xdot[pos]);
    }
  }
}
Exemplo n.º 10
0
void Hem5OSI::fprob(integer* IFCN,
                 integer* NQ,
                 integer* NV,
                 integer* NU,
                 integer* NL,
                 integer* LDG, integer* LDF, integer* LDA,
                 integer* NBLK, integer* NMRC,
                 integer* NPGP, integer* NPFL,
                 integer* INDGR, integer* INDGC, integer * INDFLR, integer * INDFLC,
                 doublereal* time,
                 doublereal* q, doublereal* v, doublereal* u,  doublereal* xl,
                 doublereal* G, doublereal* GQ, doublereal * F,
                 doublereal* GQQ, doublereal* GT, doublereal * FL,
                 doublereal* QDOT, doublereal* UDOT, doublereal * AM)
{
  DEBUG_PRINTF("Hem5OSI::fprob(integer* IFCN,...) with IFCN = %i \n", (int)*IFCN);
  DEBUG_PRINTF("NQ = %i\t NV = %i \t NU = %i, NL = %i \n", (int)*NQ, (int)*NV, (int)*NU, (int)*NL);
  DEBUG_PRINTF("LDG = %i\t LDF = %i \t LDA = %i \n", (int)*LDG, (int)*LDF, (int)*LDA);

  // fill in xWork vector (ie all the x of the ds of this osi) with x
  fillqWork(NQ, q);
  fillvWork(NV, v);

  double t = *time;
  simulationLink->model()->setCurrentTime(t);

  SP::DynamicalSystemsGraph dsGraph = simulationLink->model()->nonSmoothDynamicalSystem()->dynamicalSystems();



  int ifcn = (int)(*IFCN);

  if ((ifcn == 1) || (ifcn >= 7)) // compute Mass AM
  {
    unsigned int pos=0;
    for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
    {
      SP::DynamicalSystem ds = dsGraph->bundle(*vi);
      if (Type::value(*ds) == Type::LagrangianDS ||
          Type::value(*ds) == Type::LagrangianLinearTIDS)
      {
        LagrangianDS& lds = *std11::static_pointer_cast<LagrangianDS>(ds);
        lds.computeMass();
        for (unsigned int ii =pos ; ii < ((unsigned int)(*NV)+pos); ii ++)
        {
          for (unsigned int jj =pos ; jj < ((unsigned int)(*NV)+pos); jj ++)
          {
            AM[ii + jj*(int)(*NV)] = lds.mass()->getValue(ii,jj) ;
          }
        }
        pos += lds.getDim();
      }
      else
      {
        RuntimeException::selfThrow("Hem5OSI::fprob(), Only integration of Lagrangian DS is allowed");
      }
      DEBUG_EXPR(
        for (int kk =0 ; kk < (int)(*NV)* (int)(*NV); kk ++)
    {
      std::cout << AM[kk] << std::endl;
      }
      );
    }
Exemplo n.º 11
0
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);

  }


}