SimTK::CPodes Class Reference

This is a straightforward translation of the Sundials CPODES C interface into C++. More...

Public Types
enum	ODEType {   UnspecifiedODEType =0,   ExplicitODE,   ImplicitODE }
enum	LinearMultistepMethod {   UnspecifiedLinearMultistepMethod =0,   BDF,   Adams }
enum	NonlinearSystemIterationType {   UnspecifiedNonlinearSystemIterationType =0,   Newton,   Functional }
enum	ToleranceType {   UnspecifiedToleranceType =0,   ScalarScalar,   ScalarVector,   WeightFunction }
enum	ProjectionNorm {   UnspecifiedProjectionNorm =0,   L2Norm,   ErrorNorm }
enum	ConstraintLinearity {   UnspecifiedConstraintLinearity =0,   Linear,   Nonlinear }
enum	ProjectionFactorizationType {   UnspecifiedProjectionFactorizationType =0,   ProjectWithLU,   ProjectWithQR,   ProjectWithSchurComplement,   ProjectWithQRPivot }
enum	StepMode {   UnspecifiedStepMode =0,   Normal,   OneStep,   NormalTstop,   OneStepTstop }

Public Member Functions
	CPodes (ODEType ode=UnspecifiedODEType, LinearMultistepMethod lmm=UnspecifiedLinearMultistepMethod, NonlinearSystemIterationType nls=UnspecifiedNonlinearSystemIterationType)
	~CPodes ()
int	init (CPodesSystem &sys, Real t0, const Vector &y0, const Vector &yp0, ToleranceType tt, Real reltol, void *abstol)
int	reInit (CPodesSystem &sys, Real t0, const Vector &y0, const Vector &yp0, ToleranceType tt, Real reltol, void *abstol)
int	projInit (ProjectionNorm, ConstraintLinearity, const Vector &ctol)
int	projDefine ()
int	quadInit (const Vector &q0)
int	quadReInit (const Vector &q0)
int	rootInit (int nrtfn)
int	setErrHandlerFn ()
int	setEwtFn ()
int	dlsSetJacFn (void *jac, void *jac_data)
int	dlsProjSetJacFn (void *jacP, void *jacP_data)
int	step (Real tout, Real *tret, Vector &y_inout, Vector &yp_inout, StepMode=Normal)
int	setErrFile (FILE *errfp)
int	setMaxOrd (int maxord)
int	setMaxNumSteps (int mxsteps)
int	setMaxHnilWarns (int mxhnil)
int	setStabLimDet (bool stldet)
int	setInitStep (Real hin)
int	setMinStep (Real hmin)
int	setMaxStep (Real hmax)
int	setStopTime (Real tstop)
int	setMaxErrTestFails (int maxnef)
int	setMaxNonlinIters (int maxcor)
int	setMaxConvFails (int maxncf)
int	setNonlinConvCoef (Real nlscoef)
int	setProjUpdateErrEst (bool proj_err)
int	setProjFrequency (int proj_freq)
int	setProjTestCnstr (bool test_cnstr)
int	setProjLsetupFreq (int proj_lset_freq)
int	setProjNonlinConvCoef (Real prjcoef)
int	setQuadErrCon (bool errconQ, int tol_typeQ, Real reltolQ, void *abstolQ)
int	setTolerances (int tol_type, Real reltol, void *abstol)
int	setRootDirection (Array_< int > &rootdir)
int	getDky (Real t, int k, Vector &dky)
int	getQuad (Real t, Vector &yQout)
int	getQuadDky (Real t, int k, Vector &dky)
int	getWorkSpace (int *lenrw, int *leniw)
int	getNumSteps (int *nsteps)
int	getNumFctEvals (int *nfevals)
int	getNumLinSolvSetups (int *nlinsetups)
int	getNumErrTestFails (int *netfails)
int	getLastOrder (int *qlast)
int	getCurrentOrder (int *qcur)
int	getNumStabLimOrderReds (int *nslred)
int	getActualInitStep (Real *hinused)
int	getLastStep (Real *hlast)
int	getCurrentStep (Real *hcur)
int	getCurrentTime (Real *tcur)
int	getTolScaleFactor (Real *tolsfac)
int	getErrWeights (Vector &eweight)
int	getEstLocalErrors (Vector &ele)
int	getNumGEvals (int *ngevals)
int	getRootInfo (int *rootsfound)
int	getRootWindow (Real *tLo, Real *tHi)
int	getIntegratorStats (int *nsteps, int *nfevals, int *nlinsetups, int *netfails, int *qlast, int *qcur, Real *hinused, Real *hlast, Real *hcur, Real *tcur)
int	getNumNonlinSolvIters (int *nniters)
int	getNumNonlinSolvConvFails (int *nncfails)
int	getNonlinSolvStats (int *nniters, int *nncfails)
int	getProjNumProj (int *nproj)
int	getProjNumCnstrEvals (int *nce)
int	getProjNumLinSolvSetups (int *nsetupsP)
int	getProjNumFailures (int *nprf)
int	getProjStats (int *nproj, int *nce, int *nsetupsP, int *nprf)
int	getQuadNumFunEvals (int *nqevals)
int	getQuadErrWeights (Vector &eQweight)
char *	getReturnFlagName (int flag)
int	dlsGetWorkSpace (int *lenrwLS, int *leniwLS)
int	dlsGetNumJacEvals (int *njevals)
int	dlsGetNumFctEvals (int *nfevalsLS)
int	dlsGetLastFlag (int *flag)
char *	dlsGetReturnFlagName (int flag)
int	dlsProjGetNumJacEvals (int *njPevals)
int	dlsProjGetNumFctEvals (int *ncevalsLS)
int	lapackDense (int N)
int	lapackBand (int N, int mupper, int mlower)
int	lapackDenseProj (int Nc, int Ny, ProjectionFactorizationType)

Static Public Attributes
static const int	Success = 0
static const int	TstopReturn = 1
static const int	RootReturn = 2
static const int	Warning = 99
static const int	TooMuchWork = -1
static const int	TooClose = -27
static const int	RecoverableError = 9999
static const int	UnrecoverableError = -9999

Friends
class	CPodesRep

Detailed Description

This is a straightforward translation of the Sundials CPODES C interface into C++.

The class CPodes represents a single instance of a CPODES integrator, and handles the associated memory internally. Methods here are identical to the corresponding CPODES functions (with the "CPode" prefix removed) but are const-correct and use SimTK Vector & Real rather than Sundials N_Vector and realtype.

Member Enumeration Documentation

ODEType

enum SimTK::CPodes::ODEType

Enumerator
UnspecifiedODEType
ExplicitODE
ImplicitODE

LinearMultistepMethod

enum SimTK::CPodes::LinearMultistepMethod

Enumerator
UnspecifiedLinearMultistepMethod
BDF
Adams

NonlinearSystemIterationType

enum SimTK::CPodes::NonlinearSystemIterationType

Enumerator
UnspecifiedNonlinearSystemIterationType
Newton
Functional

ToleranceType

enum SimTK::CPodes::ToleranceType

Enumerator
UnspecifiedToleranceType
ScalarScalar
ScalarVector
WeightFunction

ProjectionNorm

enum SimTK::CPodes::ProjectionNorm

Enumerator
UnspecifiedProjectionNorm
L2Norm
ErrorNorm

ConstraintLinearity

enum SimTK::CPodes::ConstraintLinearity

Enumerator
UnspecifiedConstraintLinearity
Linear
Nonlinear

ProjectionFactorizationType

enum SimTK::CPodes::ProjectionFactorizationType

Enumerator
UnspecifiedProjectionFactorizationType
ProjectWithLU
ProjectWithQR
ProjectWithSchurComplement
ProjectWithQRPivot

StepMode

enum SimTK::CPodes::StepMode

Enumerator
UnspecifiedStepMode
Normal
OneStep
NormalTstop
OneStepTstop

Constructor & Destructor Documentation

CPodes()

SimTK::CPodes::CPodes ( ODEType  ode = UnspecifiedODEType, LinearMultistepMethod  lmm = UnspecifiedLinearMultistepMethod, NonlinearSystemIterationType  nls = UnspecifiedNonlinearSystemIterationType  )

inlineexplicit

~CPodes()

SimTK::CPodes::~CPodes

(

)

Member Function Documentation

init()

int SimTK::CPodes::init	(	CPodesSystem &	sys,
		Real	t0,
		const Vector &	y0,
		const Vector &	yp0,
		ToleranceType	tt,
		Real	reltol,
		void *	abstol
	)

reInit()

int SimTK::CPodes::reInit	(	CPodesSystem &	sys,
		Real	t0,
		const Vector &	y0,
		const Vector &	yp0,
		ToleranceType	tt,
		Real	reltol,
		void *	abstol
	)

projInit()

int SimTK::CPodes::projInit	(	ProjectionNorm	,
		ConstraintLinearity	,
		const Vector &	ctol
	)

projDefine()

int SimTK::CPodes::projDefine

(

)

quadInit()

int SimTK::CPodes::quadInit

(

const Vector &

q0

)

quadReInit()

int SimTK::CPodes::quadReInit

(

const Vector &

q0

)

rootInit()

int SimTK::CPodes::rootInit

(

int

nrtfn

)

setErrHandlerFn()

int SimTK::CPodes::setErrHandlerFn

(

)

setEwtFn()

int SimTK::CPodes::setEwtFn

(

)

dlsSetJacFn()

int SimTK::CPodes::dlsSetJacFn	(	void *	jac,
		void *	jac_data
	)

dlsProjSetJacFn()

int SimTK::CPodes::dlsProjSetJacFn	(	void *	jacP,
		void *	jacP_data
	)

step()

int SimTK::CPodes::step	(	Real	tout,
		Real *	tret,
		Vector &	y_inout,
		Vector &	yp_inout,
		StepMode	= Normal
	)

setErrFile()

int SimTK::CPodes::setErrFile

(

FILE *

errfp

)

setMaxOrd()

int SimTK::CPodes::setMaxOrd

(

int

maxord

)

setMaxNumSteps()

int SimTK::CPodes::setMaxNumSteps

(

int

mxsteps

)

setMaxHnilWarns()

int SimTK::CPodes::setMaxHnilWarns

(

int

mxhnil

)

setStabLimDet()

int SimTK::CPodes::setStabLimDet

(

bool

stldet

)

setInitStep()

int SimTK::CPodes::setInitStep

(

Real

hin

)

setMinStep()

int SimTK::CPodes::setMinStep

(

Real

hmin

)

setMaxStep()

int SimTK::CPodes::setMaxStep

(

Real

hmax

)

setStopTime()

int SimTK::CPodes::setStopTime

(

Real

tstop

)

setMaxErrTestFails()

int SimTK::CPodes::setMaxErrTestFails

(

int

maxnef

)

setMaxNonlinIters()

int SimTK::CPodes::setMaxNonlinIters

(

int

maxcor

)

setMaxConvFails()

int SimTK::CPodes::setMaxConvFails

(

int

maxncf

)

setNonlinConvCoef()

int SimTK::CPodes::setNonlinConvCoef

(

Real

nlscoef

)

setProjUpdateErrEst()

int SimTK::CPodes::setProjUpdateErrEst

(

bool

proj_err

)

setProjFrequency()

int SimTK::CPodes::setProjFrequency

(

int

proj_freq

)

setProjTestCnstr()

int SimTK::CPodes::setProjTestCnstr

(

bool

test_cnstr

)

setProjLsetupFreq()

int SimTK::CPodes::setProjLsetupFreq

(

int

proj_lset_freq

)

setProjNonlinConvCoef()

int SimTK::CPodes::setProjNonlinConvCoef

(

Real

prjcoef

)

setQuadErrCon()

int SimTK::CPodes::setQuadErrCon	(	bool	errconQ,
		int	tol_typeQ,
		Real	reltolQ,
		void *	abstolQ
	)

setTolerances()

int SimTK::CPodes::setTolerances	(	int	tol_type,
		Real	reltol,
		void *	abstol
	)

setRootDirection()

int SimTK::CPodes::setRootDirection

(

Array_< int > &

rootdir

)

getDky()

int SimTK::CPodes::getDky	(	Real	t,
		int	k,
		Vector &	dky
	)

getQuad()

int SimTK::CPodes::getQuad	(	Real	t,
		Vector &	yQout
	)

getQuadDky()

int SimTK::CPodes::getQuadDky	(	Real	t,
		int	k,
		Vector &	dky
	)

getWorkSpace()

int SimTK::CPodes::getWorkSpace	(	int *	lenrw,
		int *	leniw
	)

getNumSteps()

int SimTK::CPodes::getNumSteps

(

int *

nsteps

)

getNumFctEvals()

int SimTK::CPodes::getNumFctEvals

(

int *

nfevals

)

getNumLinSolvSetups()

int SimTK::CPodes::getNumLinSolvSetups

(

int *

nlinsetups

)

getNumErrTestFails()

int SimTK::CPodes::getNumErrTestFails

(

int *

netfails

)

getLastOrder()

int SimTK::CPodes::getLastOrder

(

int *

qlast

)

getCurrentOrder()

int SimTK::CPodes::getCurrentOrder

(

int *

qcur

)

getNumStabLimOrderReds()

int SimTK::CPodes::getNumStabLimOrderReds

(

int *

nslred

)

getActualInitStep()

int SimTK::CPodes::getActualInitStep

(

Real *

hinused

)

getLastStep()

int SimTK::CPodes::getLastStep

(

Real *

hlast

)

getCurrentStep()

int SimTK::CPodes::getCurrentStep

(

Real *

hcur

)

getCurrentTime()

int SimTK::CPodes::getCurrentTime

(

Real *

tcur

)

getTolScaleFactor()

int SimTK::CPodes::getTolScaleFactor

(

Real *

tolsfac

)

getErrWeights()

int SimTK::CPodes::getErrWeights

(

Vector &

eweight

)

getEstLocalErrors()

int SimTK::CPodes::getEstLocalErrors

(

Vector &

ele

)

getNumGEvals()

int SimTK::CPodes::getNumGEvals

(

int *

ngevals

)

getRootInfo()

int SimTK::CPodes::getRootInfo

(

int *

rootsfound

)

getRootWindow()

int SimTK::CPodes::getRootWindow	(	Real *	tLo,
		Real *	tHi
	)

getIntegratorStats()

int SimTK::CPodes::getIntegratorStats	(	int *	nsteps,
		int *	nfevals,
		int *	nlinsetups,
		int *	netfails,
		int *	qlast,
		int *	qcur,
		Real *	hinused,
		Real *	hlast,
		Real *	hcur,
		Real *	tcur
	)

getNumNonlinSolvIters()

int SimTK::CPodes::getNumNonlinSolvIters

(

int *

nniters

)

getNumNonlinSolvConvFails()

int SimTK::CPodes::getNumNonlinSolvConvFails

(

int *

nncfails

)

getNonlinSolvStats()

int SimTK::CPodes::getNonlinSolvStats	(	int *	nniters,
		int *	nncfails
	)

getProjNumProj()

int SimTK::CPodes::getProjNumProj

(

int *

nproj

)

getProjNumCnstrEvals()

int SimTK::CPodes::getProjNumCnstrEvals

(

int *

nce

)

getProjNumLinSolvSetups()

int SimTK::CPodes::getProjNumLinSolvSetups

(

int *

nsetupsP

)

getProjNumFailures()

int SimTK::CPodes::getProjNumFailures

(

int *

nprf

)

getProjStats()

int SimTK::CPodes::getProjStats	(	int *	nproj,
		int *	nce,
		int *	nsetupsP,
		int *	nprf
	)

getQuadNumFunEvals()

int SimTK::CPodes::getQuadNumFunEvals

(

int *

nqevals

)

getQuadErrWeights()

int SimTK::CPodes::getQuadErrWeights

(

Vector &

eQweight

)

getReturnFlagName()

char* SimTK::CPodes::getReturnFlagName

(

int

flag

)

dlsGetWorkSpace()

int SimTK::CPodes::dlsGetWorkSpace	(	int *	lenrwLS,
		int *	leniwLS
	)

dlsGetNumJacEvals()

int SimTK::CPodes::dlsGetNumJacEvals

(

int *

njevals

)

dlsGetNumFctEvals()

int SimTK::CPodes::dlsGetNumFctEvals

(

int *

nfevalsLS

)

dlsGetLastFlag()

int SimTK::CPodes::dlsGetLastFlag

(

int *

flag

)

dlsGetReturnFlagName()

char* SimTK::CPodes::dlsGetReturnFlagName

(

int

flag

)

dlsProjGetNumJacEvals()

int SimTK::CPodes::dlsProjGetNumJacEvals

(

int *

njPevals

)

dlsProjGetNumFctEvals()

int SimTK::CPodes::dlsProjGetNumFctEvals

(

int *

ncevalsLS

)

lapackDense()

int SimTK::CPodes::lapackDense

(

int

N

)

lapackBand()

int SimTK::CPodes::lapackBand	(	int	N,
		int	mupper,
		int	mlower
	)

lapackDenseProj()

int SimTK::CPodes::lapackDenseProj	(	int	Nc,
		int	Ny,
		ProjectionFactorizationType
	)

Friends And Related Function Documentation

CPodesRep

friend class CPodesRep

friend

Member Data Documentation

Success

const int SimTK::CPodes::Success = 0

static

TstopReturn

const int SimTK::CPodes::TstopReturn = 1

static

RootReturn

const int SimTK::CPodes::RootReturn = 2

static

Warning

const int SimTK::CPodes::Warning = 99

static

TooMuchWork

const int SimTK::CPodes::TooMuchWork = -1

static

TooClose

const int SimTK::CPodes::TooClose = -27

static

RecoverableError

const int SimTK::CPodes::RecoverableError = 9999

static

UnrecoverableError

const int SimTK::CPodes::UnrecoverableError = -9999

static

---

The documentation for this class was generated from the following file:

• SimTKcpodes.h