示例#1
0
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));
  }
}
示例#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");

}
示例#3
0
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));
  }
}