C++ sp::DynamicalSystem类代码示例

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));
        }
      }
    }
  }
}

void EulerMoreauOSI::setW(const SiconosMatrix& newValue, SP::DynamicalSystem ds)
{
  // Check if ds is in the OSI
  if (!OSIDynamicalSystems->isIn(ds))
    RuntimeException::selfThrow("EulerMoreauOSI::setW(newVal,ds) - ds does not belong to this Integrator ...");

  // Check dimensions consistency
  unsigned int line = newValue.size(0);
  unsigned int col  = newValue.size(1);

  if (line != col) // Check that newValue is square
    RuntimeException::selfThrow("EulerMoreauOSI::setW(newVal,ds) - newVal is not square! ");

  if (!ds)
    RuntimeException::selfThrow("EulerMoreauOSI::setW(newVal,ds) - ds == NULL.");

  unsigned int sizeW = ds->getDim(); // n for first order systems, ndof for lagrangian.
  unsigned int dsN = ds->number();
  if (line != sizeW) // check consistency between newValue and dynamical system size
    RuntimeException::selfThrow("EulerMoreauOSI::setW(newVal,ds) - unconsistent dimension between newVal and dynamical system to be integrated ");

  // Memory allocation for W, if required
  if (!WMap[dsN]) // allocate a new W if required
  {
    WMap[dsN].reset(new SimpleMatrix(newValue));
  }
  else  // or fill-in an existing one if dimensions are consistent.
  {
    if (line == WMap[dsN]->size(0) && col == WMap[dsN]->size(1))
      *(WMap[dsN]) = newValue;
    else
      RuntimeException::selfThrow("EulerMoreauOSI - setW: inconsistent dimensions with problem size for given input matrix W");
  }
}

const SimpleMatrix SchatzmanPaoliOSI::getWBoundaryConditions(SP::DynamicalSystem ds)
{
  assert(ds &&
         "SchatzmanPaoliOSI::getWBoundaryConditions(ds): ds == NULL.");
  //    return *(WBoundaryConditionsMap[0]);
  assert(_WBoundaryConditionsMap[ds->number()] &&
         "SchatzmanPaoliOSI::getWBoundaryConditions(ds): WBoundaryConditions[ds] == NULL.");
  return *(_WBoundaryConditionsMap[ds->number()]); // Copy !!
}

void Hem5OSI::computeJacobianRhs(double t)
{
  DynamicalSystemsGraph::VIterator dsi, dsend;
  for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
  {
    if (!checkOSI(dsi)) continue;
    SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
    ds->computeJacobianRhsx(t);
  }
}

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");

}

void Topology::insertDynamicalSystem(SP::DynamicalSystem ds)
{
  DynamicalSystemsGraph::VDescriptor dsgv = _DSG[0]->add_vertex(ds);
  _DSG[0]->properties(dsgv).workVectors.reset(new VectorOfVectors());
  _DSG[0]->properties(dsgv).workMatrices.reset(new VectorOfMatrices());
  ds->initWorkSpace(*_DSG[0]->properties(dsgv).workVectors, *_DSG[0]->properties(dsgv).workMatrices);
}

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;
      );

  }

void EulerMoreauOSI::setWPtr(SP::SimpleMatrix newPtr, SP::DynamicalSystem ds)
{
  unsigned int line = newPtr->size(0);
  unsigned int col  = newPtr->size(1);
  if (line != col) // Check that newPtr is square
    RuntimeException::selfThrow("EulerMoreauOSI::setWPtr(newVal) - newVal is not square! ");

  if (!ds)
    RuntimeException::selfThrow("EulerMoreauOSI::setWPtr(newVal,ds) - ds == NULL.");

  unsigned int sizeW = ds->getDim(); // n for first order systems, ndof for lagrangian.
  if (line != sizeW) // check consistency between newValue and dynamical system size
    RuntimeException::selfThrow("EulerMoreauOSI::setW(newVal) - unconsistent dimension between newVal and dynamical system to be integrated ");

  WMap[ds->number()] = newPtr;                  // link with new pointer
}

SP::SiconosMatrix EulerMoreauOSI::WBoundaryConditions(SP::DynamicalSystem ds)
{
  assert(ds && "EulerMoreauOSI::WBoundaryConditions(ds): ds == NULL.");
  //  return WBoundaryConditionsMap[0];
  //  if(WBoundaryConditionsMap[ds]==NULL)
  //    RuntimeException::selfThrow("EulerMoreauOSI::WBoundaryConditions(ds): W[ds] == NULL.");
  return _WBoundaryConditionsMap[ds->number()];
}

SP::SimpleMatrix EulerMoreauOSI::W(SP::DynamicalSystem ds)
{
  assert(ds && "EulerMoreauOSI::W(ds): ds == NULL.");
  //  return WMap[0];
  //  if(WMap[ds]==NULL)
  //    RuntimeException::selfThrow("EulerMoreauOSI::W(ds): W[ds] == NULL.");
  return WMap[ds->number()];
}

SP::DynamicalSystem Topology::getDynamicalSystem(unsigned int requiredNumber)
{
  DynamicalSystemsGraph::VIterator vi, vdend;
  SP::DynamicalSystem ds;
  unsigned int currentNumber;
  for (std11::tie(vi, vdend) = _DSG[0]->vertices(); vi != vdend; ++vi)
  {
    ds = _DSG[0]->bundle(*vi);
    currentNumber = ds->number();
    if (currentNumber == requiredNumber)
      return ds;
  }

  RuntimeException::selfThrow("Topology::getDynamicalSystem(n) ds not found.");

  return ds;
}

const SimpleMatrix SchatzmanPaoliOSI::getW(SP::DynamicalSystem ds)
{
  assert(ds &&
         "SchatzmanPaoliOSI::getW(ds): ds == NULL.");
  //    return *(WMap[0]);
  unsigned int dsN = ds->number();
  assert(WMap[dsN] &&
         "SchatzmanPaoliOSI::getW(ds): W[ds] == NULL.");
  return *(WMap[dsN]); // Copy !!
}

void SchatzmanPaoliOSI::display()
{
  OneStepIntegrator::display();

  std::cout << "====== SchatzmanPaoliOSI OSI display ======" <<std::endl;

  DynamicalSystemsGraph::VIterator dsi, dsend;
  for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
  {
    if (!checkOSI(dsi)) continue;
    SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
    std::cout << "--------------------------------" <<std::endl;
    std::cout << "--> W of dynamical system number " << ds->number() << ": " <<std::endl;
    if (_dynamicalSystemsGraph->properties(*dsi).W)  _dynamicalSystemsGraph->properties(*dsi).W->display();
    else std::cout << "-> NULL" <<std::endl;
    std::cout << "--> and corresponding theta is: " << _theta <<std::endl;
  }
  std::cout << "================================" <<std::endl;
}

const SimpleMatrix EulerMoreauOSI::getWBoundaryConditions(SP::DynamicalSystem ds)
{
  assert(ds &&
         "EulerMoreauOSI::getWBoundaryConditions(ds): ds == NULL.");
  //    return *(WBoundaryConditionsMap[0]);
  unsigned int dsN = ds->number();
  assert(_WBoundaryConditionsMap[dsN] &&
         "EulerMoreauOSI::getWBoundaryConditions(ds): WBoundaryConditions[ds] == NULL.");
  return *(_WBoundaryConditionsMap[dsN]); // Copy !!
}

const SimpleMatrix EulerMoreauOSI::getW(SP::DynamicalSystem ds)
{
  int dsN = ds->number();
  assert(ds &&
         "EulerMoreauOSI::getW(ds): ds == NULL.");
  //    return *(WMap[0]);
  assert(WMap[dsN] &&
         "EulerMoreauOSI::getW(ds): W[ds] == NULL.");
  return *(WMap[dsN]); // Copy !!
}