Linear Version of the Euler Implicit ode solver This solver assumes that the system is linear, ie that Mass, Damping, and Stiffness matrices do not change. More...

#include <OdeSolverLinearEulerImplicit.h>

Inheritance diagram for SurgSim::Math::OdeSolverLinearEulerImplicit:

Public Member Functions
	OdeSolverLinearEulerImplicit (OdeEquation *equation)
	Constructor. More...

void	setNewtonRaphsonMaximumIteration (size_t maximumIteration) override

void	solve (double dt, const OdeState &currentState, OdeState *newState, bool computeCompliance=true) override
	The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. More...

Public Member Functions inherited from SurgSim::Math::OdeSolverEulerImplicit
	OdeSolverEulerImplicit (OdeEquation *equation)
	Constructor. More...

size_t	getNewtonRaphsonMaximumIteration () const

void	setNewtonRaphsonEpsilonConvergence (double epsilonConvergence)

double	getNewtonRaphsonEpsilonConvergence () const

Public Member Functions inherited from SurgSim::Math::OdeSolver
	OdeSolver (OdeEquation *equation)
	Constructor. More...

virtual	~OdeSolver ()
	Virtual destructor.

const std::string	getName () const
	Gets the solver's name. More...

void	setLinearSolver (std::shared_ptr< LinearSparseSolveAndInverse > linearSolver)
	Sets the specialized linear solver to use with this Ode solver. More...

std::shared_ptr< LinearSparseSolveAndInverse >	getLinearSolver () const
	Gets the specialized linear solver used with this Ode solver. More...

void	computeMatrices (double dt, const OdeState &state, bool computeCompliance=true)
	Computes the system and compliance matrices for a given state. More...

const SparseMatrix &	getSystemMatrix () const
	Queries the current system matrix. More...

const Matrix &	getComplianceMatrix () const

Additional Inherited Members
Protected Member Functions inherited from SurgSim::Math::OdeSolverEulerImplicit
void	assembleLinearSystem (double dt, const OdeState &state, const OdeState &newState, bool computeRHS=true) override
	Assemble the linear system (A.x=b) to be solved for the state and new states (useful for certain ode solver). More...

Protected Member Functions inherited from SurgSim::Math::OdeSolver
void	computeComplianceMatrixFromSystemMatrix (const OdeState &state)
	Helper method computing the compliance matrix from the system matrix and setting the boundary conditions. More...

Protected Attributes inherited from SurgSim::Math::OdeSolverEulerImplicit
size_t	m_maximumIteration
	Newton-Raphson maximum number of iteration (1 => linearization)

double	m_epsilonConvergence
	Newton-Raphson convergence criteria (variation of the solution over time)

Vector	m_previousSolution
	Newton-Raphson previous solution (we solve a problem to find deltaV, the variation in velocity)

Protected Attributes inherited from SurgSim::Math::OdeSolver
std::string	m_name
	Name for this solver. More...

OdeEquation &	m_equation
	The ode equation (API providing the necessary evaluation methods and the initial state)

std::shared_ptr< LinearSparseSolveAndInverse >	m_linearSolver
	The specialized linear solver to use when solving the ode equation.

SparseMatrix	m_systemMatrix
	Linear system matrix (can be M, K, combination of MDK depending on the solver), including boundary conditions. More...

Vector	m_solution
	Linear system solution and rhs vectors (including boundary conditions)

Vector	m_rhs

Matrix	m_complianceMatrix
	Compliance matrix which is the inverse of the system matrix, including boundary conditions.

Detailed Description

Linear Version of the Euler Implicit ode solver This solver assumes that the system is linear, ie that Mass, Damping, and Stiffness matrices do not change.

Note: If the matrices are all constant, the problem to solve becomes linear,; therefore the Newton-Raphson algorithm will be exact in only 1 iteration.; Therefore this solver uses a number of maximum iteration of 1 unless overriden.

Constructor & Destructor Documentation

§ OdeSolverLinearEulerImplicit()

SurgSim::Math::OdeSolverLinearEulerImplicit::OdeSolverLinearEulerImplicit ( OdeEquation * equation )

explicit

Constructor.

Parameters

equation The ode equation to be solved

Member Function Documentation

§ setNewtonRaphsonMaximumIteration()

void SurgSim::Math::OdeSolverLinearEulerImplicit::setNewtonRaphsonMaximumIteration ( size_t maximumIteration )

overridevirtual

Parameters

maximumIteration The Newton-Raphson algorithm maximum number of iterations

Reimplemented from SurgSim::Math::OdeSolverEulerImplicit.

§ solve()

void SurgSim::Math::OdeSolverLinearEulerImplicit::solve	(	double	dt,
		const OdeState &	currentState,
		OdeState *	newState,
		bool	computeCompliance = `true`
	)

overridevirtual

The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix.

It will be precomputed on the first call and use in the following calls, no matter what the parameter value is.