C++ LagrangianDS::p方法代码示例

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 D1MinusLinearOSI::updateState(const unsigned int level)
{
  DEBUG_PRINTF("\n D1MinusLinearOSI::updateState(const unsigned int level) start for level = %i\n",level);

  for (DSIterator it = OSIDynamicalSystems->begin(); it != OSIDynamicalSystems->end(); ++it)
  {
    // type of the current DS
    Type::Siconos dsType = Type::value(**it);

    /* \warning the following conditional statement should be removed with a MechanicalDS class */
    /* Lagrangian DS*/
    if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
    {
      SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (*it);
      SP::SiconosMatrix M = d->mass();
      SP::SiconosVector v = d->velocity();

      DEBUG_PRINT("Position and velocity before update\n");
      DEBUG_EXPR(d->q()->display());
      DEBUG_EXPR(d->velocity()->display());

      /* Add the contribution of the impulse if any */
      if (d->p(1))
      {
        DEBUG_EXPR(d->p(1)->display());
        /* copy the value of the impulse */
        SP::SiconosVector dummy(new SiconosVector(*(d->p(1))));
        /* Compute the velocity jump due to the impulse */
        M->PLUForwardBackwardInPlace(*dummy);
        /* Add the velocity jump to the free velocity */
        *v += *dummy;
      }

      DEBUG_PRINT("Position and velocity after update\n");
      DEBUG_EXPR(d->q()->display());
      DEBUG_EXPR(d->velocity()->display());
    }
    /*  NewtonEuler Systems */
    else if (dsType == Type::NewtonEulerDS)
    {
      SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (*it);
      SP::SiconosMatrix M(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization;
      SP::SiconosVector v = d->velocity(); // POINTER CONSTRUCTOR : contains new velocity
      if (d->p(1))
      {

        // Update the velocity
        SP::SiconosVector dummy(new SiconosVector(*(d->p(1)))); // value = nonsmooth impulse
        M->PLUForwardBackwardInPlace(*dummy); // solution for its velocity equivalent
        *v += *dummy; // add free velocity

        // update \f$ \dot q \f$
        SP::SiconosMatrix T = d->T();
        SP::SiconosVector dotq = d->dotq();
        prod(*T, *v, *dotq, true);

        DEBUG_PRINT("\nRIGHT IMPULSE\n");
        DEBUG_EXPR(d->p(1)->display());
      }
      DEBUG_EXPR(d->q()->display());
      DEBUG_EXPR(d->velocity()->display());
    }
    else
      RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);

  }

  DEBUG_PRINT("\n D1MinusLinearOSI::updateState(const unsigned int level) end\n");

}

double D1MinusLinearOSI::computeResiduHalfExplicitAccelerationLevel()
{
  DEBUG_BEGIN("\n D1MinusLinearOSI::computeResiduHalfExplicitAccelerationLevel()\n");

  double t = _simulation->nextTime(); // end of the time step
  double told = _simulation->startingTime(); // beginning of the time step
  double h = _simulation->timeStep(); // time step length

  SP::OneStepNSProblems allOSNS  = _simulation->oneStepNSProblems(); // all OSNSP
  SP::Topology topo =  _simulation->nonSmoothDynamicalSystem()->topology();
  SP::InteractionsGraph indexSet2 = topo->indexSet(2);

  /**************************************************************************************************************
   *  Step 1-  solve a LCP at acceleration level for lambda^+_{k} for the last set indices
   *   if index2 is empty we should skip this step
   **************************************************************************************************************/

  DEBUG_PRINT("\nEVALUATE LEFT HAND SIDE\n");

  DEBUG_EXPR(std::cout<< "allOSNS->empty()   " << std::boolalpha << allOSNS->empty() << std::endl << std::endl);
  DEBUG_EXPR(std::cout<< "allOSNS->size()   "  << allOSNS->size() << std::endl << std::endl);

// -- LEFT SIDE --
  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);
    SP::SiconosVector accFree;
    SP::SiconosVector work_tdg;
    SP::SiconosMatrix Mold;
    DEBUG_EXPR((*it)->display());

    if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
    {
      SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
      accFree = d->workspace(DynamicalSystem::free); /* POINTER CONSTRUCTOR : will contain
                                                       * the acceleration without contact force */
      accFree->zero();

      // get left state from memory
      SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
      SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
      Mold = d->mass();

      DEBUG_EXPR(accFree->display());
      DEBUG_EXPR(qold->display());
      DEBUG_EXPR(vold->display());
      DEBUG_EXPR(Mold->display());

      if (! d->workspace(DynamicalSystem::free_tdg))
      {
        d->allocateWorkVector(DynamicalSystem::free_tdg, d->dimension()) ;
      }
      work_tdg = d->workspace(DynamicalSystem::free_tdg);
      work_tdg->zero();
      DEBUG_EXPR(work_tdg->display());

      if (d->forces())
      {
        d->computeForces(told, qold, vold);
        DEBUG_EXPR(d->forces()->display());

        *accFree += *(d->forces());
      }
      Mold->PLUForwardBackwardInPlace(*accFree); // contains left (right limit) acceleration without contact force
      d->addWorkVector(accFree,DynamicalSystem::free_tdg); // store the value in WorkFreeFree
    }
    else if(dsType == Type::NewtonEulerDS)
    {
      SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
      accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
      accFree->zero();

      // get left state from memory
      SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
      SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
      //Mold = d->mass();
      assert(!d->mass()->isPLUInversed());
      Mold.reset(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization
      DEBUG_EXPR(accFree->display());
      DEBUG_EXPR(qold->display());
      DEBUG_EXPR(vold->display());
      DEBUG_EXPR(Mold->display());

      if (! d->workspace(DynamicalSystem::free_tdg))
      {
        d->allocateWorkVector(DynamicalSystem::free_tdg, d->dimension()) ;
      }

      work_tdg = d->workspace(DynamicalSystem::free_tdg);
      work_tdg->zero();
      DEBUG_EXPR(work_tdg->display());

      if (d->forces())
      {
        d->computeForces(told, qold, vold);
        DEBUG_EXPR(d->forces()->display());
//.........这里部分代码省略.........

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);

//.........这里部分代码省略.........

void SchatzmanPaoliOSI::updateState(const unsigned int level)
{

  double h = simulationLink->timeStep();

  double RelativeTol = simulationLink->relativeConvergenceTol();
  bool useRCC = simulationLink->useRelativeConvergenceCriteron();
  if (useRCC)
    simulationLink->setRelativeConvergenceCriterionHeld(true);

  DSIterator it;
  SP::SiconosMatrix W;
  for (it = OSIDynamicalSystems->begin(); it != OSIDynamicalSystems->end(); ++it)
  {
    SP::DynamicalSystem ds = *it;
    W = WMap[ds->number()];
    // Get the DS type

    Type::Siconos dsType = Type::value(*ds);

    // 1 - Lagrangian Systems
    if (dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
    {
      // get dynamical system
      SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);

      //    SiconosVector *vfree = d->velocityFree();
      SP::SiconosVector q = d->q();
      bool baux = dsType == Type::LagrangianDS && useRCC && simulationLink->relativeConvergenceCriterionHeld();
      if (level != LEVELMAX)
      {
        // To compute q, we solve W(q - qfree) = p
        if (d->p(level))
        {
          *q = *d->p(level); // q = p
          W->PLUForwardBackwardInPlace(*q);
        }

        // if (d->boundaryConditions())
        //   for (vector<unsigned int>::iterator
        //        itindex = d->boundaryConditions()->velocityIndices()->begin() ;
        //        itindex != d->boundaryConditions()->velocityIndices()->end();
        //        ++itindex)
        //     v->setValue(*itindex, 0.0);
        *q +=  * ds->workspace(DynamicalSystem::free);

      }
      else
        *q =  * ds->workspace(DynamicalSystem::free);



      // Computation of the velocity

      SP::SiconosVector v = d->velocity();
      SP::SiconosVector q_k_1 = d->qMemory()->getSiconosVector(1); // q_{k-1}

      //  std::cout << "SchatzmanPaoliOSI::updateState - q_k_1 =" <<std::endl;
      // q_k_1->display();
      //  std::cout << "SchatzmanPaoliOSI::updateState - q =" <<std::endl;
      // q->display();

      *v = 1.0 / (2.0 * h) * (*q - *q_k_1);
      //  std::cout << "SchatzmanPaoliOSI::updateState - v =" <<std::endl;
      // v->display();

      // int bc=0;
      // SP::SiconosVector columntmp(new SiconosVector(ds->getDim()));

      // if (d->boundaryConditions())
      // {
      //   for (vector<unsigned int>::iterator  itindex = d->boundaryConditions()->velocityIndices()->begin() ;
      //        itindex != d->boundaryConditions()->velocityIndices()->end();
      //        ++itindex)
      //   {
      //     _WBoundaryConditionsMap[ds]->getCol(bc,*columntmp);
      //     /*\warning we assume that W is symmetric in the Lagrangian case*/
      //     double value = - inner_prod(*columntmp, *v);
      //     value += (d->p(level))->getValue(*itindex);
      //     /* \warning the computation of reactionToBoundaryConditions take into
      //        account the contact impulse but not the external and internal forces.
      //        A complete computation of the residue should be better */
      //     d->reactionToBoundaryConditions()->setValue(bc,value) ;
      //     bc++;
      //   }

      if (baux)
      {
        ds->subWorkVector(q, DynamicalSystem::local_buffer);
        double aux = ((ds->workspace(DynamicalSystem::local_buffer))->norm2()) / (ds->normRef());
        if (aux > RelativeTol)
          simulationLink->setRelativeConvergenceCriterionHeld(false);
      }

    }
    //2 - Newton Euler Systems
    else if (dsType == Type::NewtonEulerDS)
    {
      //  // get dynamical system
      //       SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
//.........这里部分代码省略.........