class dynoSolver

The dynoSolver performs numerical integration of differential equations.

Inheritance:

Public Fields

double nextTimerUpdate

the next time dynamicSystem::checkTimers will be called

double currentTime

the current simulation time

int ignoreViolations

indicates whether violations are currently being ignored

double maxDt

the upper bound on time stepsizes used by the solver

double minDt

the lower bound on time stepsizes used by the solver

double tol

the acceptable level of error for adaptive stepsizing

double lastDt

the size of the last time step

int numDynamicSteps

number of times dynamicSystem::computeAccelerationFromTorque was called

int numTotalSteps

total number of steps

Public Methods

virtual int readParams(paramParser* parser)

reads parameter from the parser's current context.

virtual int reset(void)

resets the simulation time and related variables

virtual int order(void) const = 0

returns the order of the integration method (ie.

virtual double adaptiveStep(double dt, int* error = 0)

takes a step of size dt using adaptive stepsizing.

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

The dynoSolver performs numerical integration of differential equations. Users will normally have little or no direct use for dynoSolvers, as they are allocated automatically by dynamicSystems. Most interaction with a dynoSolver is done through the parsing of a p-file section when a dynamicSystem's readParams() method is called.

double nextTimerUpdate

the next time dynamicSystem::checkTimers will be called

double currentTime

the current simulation time

int ignoreViolations

indicates whether violations are currently being ignored

double maxDt

the upper bound on time stepsizes used by the solver

double minDt

the lower bound on time stepsizes used by the solver

double tol

the acceptable level of error for adaptive stepsizing

double lastDt

the size of the last time step

int numDynamicSteps

number of times dynamicSystem::computeAccelerationFromTorque was called

int numTotalSteps

total number of steps

virtual int readParams(paramParser* parser)

reads parameter from the parser's current context. The parameters read by the dynoSolver class are:

• double maxDt - the maximum time step to take
• double minDt - the minimum time step to take
• double tol - the error tolerance
• int maxSteps - the maximum number of steps to take before returning control to the dynamicSystem
• int verboseLevel - the desired level of debugging output

virtual int reset(void)

resets the simulation time and related variables

virtual int order(void) const = 0

returns the order of the integration method (ie. 4 for runge-kutta 4)

virtual double adaptiveStep(double dt, int* error = 0)

takes a step of size dt using adaptive stepsizing. If error is non-NULL, its contents will be set to 1 if any error occurs.

Direct child classes:

rungeKutta4

Friends:

dynamicSystem

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