/usr/include/simbody/simmath/CPodesIntegrator.h is in libsimbody-dev 3.5.4+dfsg-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 | #ifndef SimTK_SIMMATH_CPODES_INTEGRATOR_H_
#define SimTK_SIMMATH_CPODES_INTEGRATOR_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKmath *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2007-12 Stanford University and the Authors. *
* Authors: Peter Eastman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "SimTKcommon.h"
#include "simmath/internal/common.h"
#include "simmath/Integrator.h"
#include "simmath/internal/SimTKcpodes.h"
namespace SimTK {
class CPodesIntegratorRep;
/**
* This is an Integrator based on the CPODES library. It is an error controlled, variable order
* implicit integrator. It provides a good combination of accuracy, stability, and speed, and
* is a good choice for integrating stiff problems.
*
* When creating a CPodesIntegrator, you can specify various options for how to perform
* the implicit integration: the linear multistep method to use (Adams or BDF), and the nonlinear system
* iteration type (Newton iteration or functional iteration). For stiff problems, the recommended choices
* are BDF with Newton iteration. For non-stiff problems, using Adams and/or functional iteration may
* provide better performance. Note that Adams is <i>never</i> recommended for systems that include
* constraints.
*/
class SimTK_SIMMATH_EXPORT CPodesIntegrator : public Integrator {
public:
/**
* Create a CPodesIntegrator for integrating a System.
*/
explicit CPodesIntegrator(const System& sys, CPodes::LinearMultistepMethod method=CPodes::BDF);
/**
* Create a CPodesIntegrator for integrating a System. The nonlinear system iteration type is chosen automatically
* based on the linear multistep method: Newton iteration for BDF (the default), and functional iteration for Adams.
*/
CPodesIntegrator(const System& sys, CPodes::LinearMultistepMethod method, CPodes::NonlinearSystemIterationType iterationType);
/**
* CPODES provides its own mechanism for projecting the system onto the constraint manifold. By default,
* CPodesIntegrator uses the System's project() method for doing projection, which is usually more
* efficient. Invoking this method tells it to use the CPODES mechanism instead.
*
* This method must be invoked before the integrator is initialized. Invoking it after initialization
* will produce an exception.
*/
void setUseCPodesProjection();
/**
* Restrict the integrator to lower orders than it is otherwise capable of (up to 12 for Adams, 5 for BDF). This method
* may only be used to decrease the maximum order permitted, never to increase it. Once you specify an order limit, calling it
* again with a larger value will fail.
*/
void setOrderLimit(int order);
};
} // namespace SimTK
#endif // SimTK_SIMMATH_CPODES_INTEGRATOR_H_
|