Description
Performs a step of Euler implicit for II order systems using a semi implicit Euler without constraint stabilization, followed by a projection.
That is: a speed problem followed by a position problem that keeps constraint drifting 'closed' by using a projection. If using an underlying CCP complementarity solver, this is the typical Tasora stabilized timestepper for DVIs.
#include <ChTimestepper.h>
Public Member Functions | |
ChTimestepperEulerImplicitProjected (ChIntegrableIIorder *intgr=nullptr) | |
Constructors (default empty) | |
virtual Type | GetType () const override |
Return type of the integration method. More... | |
virtual void | Advance (const double dt) override |
Performs an integration timestep. More... | |
virtual void | ArchiveOut (ChArchiveOut &archive) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIn (ChArchiveIn &archive) override |
Method to allow de-serialization of transient data from archives. | |
Public Member Functions inherited from chrono::ChTimestepperIIorder | |
ChTimestepperIIorder (ChIntegrableIIorder *intgr=nullptr) | |
Constructor. | |
virtual | ~ChTimestepperIIorder () |
Destructor. | |
virtual ChState & | GetStatePos () |
Access the state, position part, at current time. | |
virtual ChStateDelta & | GetStateVel () |
Access the state, speed part, at current time. | |
virtual ChStateDelta & | GetStateAcc () |
Access the acceleration, at current time. | |
virtual void | SetIntegrable (ChIntegrableIIorder *intgr) |
Set the integrable object. | |
Public Member Functions inherited from chrono::ChTimestepper | |
ChTimestepper (ChIntegrable *intgr=nullptr) | |
Constructor. | |
virtual | ~ChTimestepper () |
Destructor. | |
virtual ChVectorDynamic & | GetLagrangeMultipliers () |
Access the lagrangian multipliers, if any. | |
virtual void | SetIntegrable (ChIntegrable *intgr) |
Set the integrable object. | |
ChIntegrable * | GetIntegrable () |
Get the integrable object. | |
virtual double | GetTime () const |
Get the current time. | |
virtual void | SetTime (double mt) |
Set the current time. | |
void | SetVerbose (bool verb) |
Turn on/off logging of messages. | |
Protected Attributes | |
ChStateDelta | Vold |
ChVectorDynamic | Dl |
ChVectorDynamic | R |
ChVectorDynamic | Qc |
Protected Attributes inherited from chrono::ChTimestepperIIorder | |
ChState | X |
ChStateDelta | V |
ChStateDelta | A |
Protected Attributes inherited from chrono::ChTimestepper | |
ChIntegrable * | integrable |
double | T |
ChVectorDynamic | L |
bool | verbose |
bool | Qc_do_clamp |
double | Qc_clamping |
Additional Inherited Members | |
Public Types inherited from chrono::ChTimestepper | |
enum | Type { EULER_IMPLICIT_LINEARIZED = 0, EULER_IMPLICIT_PROJECTED = 1, EULER_IMPLICIT = 2, TRAPEZOIDAL = 3, TRAPEZOIDAL_LINEARIZED = 4, HHT = 5, HEUN = 6, RUNGEKUTTA45 = 7, EULER_EXPLICIT = 8, LEAPFROG = 9, NEWMARK = 10, CUSTOM = 20 } |
Available methods for time integration (time steppers). | |
Member Function Documentation
◆ Advance()
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overridevirtual |
Performs an integration timestep.
- Parameters
-
dt timestep to advance
Implements chrono::ChTimestepper.
◆ GetType()
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inlineoverridevirtual |
Return type of the integration method.
Default is CUSTOM. Derived classes should override this function.
Reimplemented from chrono::ChTimestepper.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/timestepper/ChTimestepper.h
- /builds/uwsbel/chrono/src/chrono/timestepper/ChTimestepper.cpp