trick/include/trick/Integrator.hh
Alex Lin 19025d77ad Standardize directory names
Reorganized.  Created a new top level include directory that will hold all of Trick's header files. Moved all of the Trick headers to this directory.  Created a libexec directory that holds all of the executables that users don't need to execute directly.  Changed all of the executables remaining in bin to start with "trick-".  In the sim_services directories changed all source files to find the Trick headers in their new location.  Since all of the include files are gone in sim_services, removed the src directories as well, moving all of the source files up a level.  Moved the makefiles, docs, man, and other architecture independent files into a top level share directory.  Renamed lib_${TRICK_HOST_CPU} to lib64 or lib depending on the platform we're currently on.

refs #63
2015-06-09 08:44:42 -05:00

143 lines
4.0 KiB
C++

#ifndef INTEGRATOR_HH
#define INTEGRATOR_HH
/**
PURPOSE: (Integrator Base Class)
*/
#if defined(TRICK_VER)
#include "trick/memorymanager_c_intf.h"
#define INTEG_NEW(class) (class*)TMM_declare_var_1d(#class,1)
#define INTEG_ALLOC(typespec, num) (typespec*)TMM_declare_var_1d(#typespec,(num))
#define INTEG_FREE(p) TMM_delete_var_a(p)
#else
#include <stdlib.h>
#define INTEG_NEW(class) new class
#define INTEG_ALLOC(typespec, num) (typespec*)calloc((size_t)num,sizeof(typespec))
#define INTEG_FREE(p) free(p)
#endif
/*
#ifdef USE_ER7_UTILS_INTEGRATORS
#include "er7_utils/integration/core/include/integration_technique.hh"
#endif
*/
/**
* Below are the supported types of integration schemes.
*/
typedef enum {
Euler = 0, /* 1st Order Explicit Euler */
Euler_Cromer = 1, /* The simple symplectic Euler-Cromer */
Nystrom_Lear_2 = 2, /* 2nd Order Nystrom Lear */
Runge_Kutta_2 = 3, /* 2nd Order Runge Kutta */
Modified_Midpoint_4 = 4, /* 4th Order Modified Midpoint */
Runge_Kutta_4 = 5, /* 4th Order Runge Kutta */
Runge_Kutta_Gill_4 = 6, /* 4th Order Runge Kutta Gill */
Runge_Kutta_Fehlberg_45 = 7, /* 5th Order Runge Kutta Fehlberg */
Runge_Kutta_Fehlberg_78 = 8, /* 8th Order Runge Kutta Fehlberg */
ABM_Method = 9, /* Adams-Bashforth-Moulton Method */
User_Defined = 10 /* User defined integrator */
} Integrator_type;
namespace Trick {
/**
* Contains the information shared by all of the Integrator Schemes.
*
* @author John Penn
* @author Alex Lin
* @author Donna Panter
*
* @date May 2010
*/
class Integrator {
public:
Integrator();
virtual ~Integrator() {};
virtual void initialize(int State_size, double Dt) = 0;
virtual int integrate() = 0;
virtual int integrate_1st_order_ode (
double const* derivs_in, double* state_in_out);
virtual int integrate_2nd_order_ode (
double const* accel, double* velocity, double* position);
void state_in (double* arg1, ...)
#ifndef SWIGPYTHON
#ifdef __GNUC__
#if __GNUC__ >= 4
__attribute__((sentinel))
#endif
#endif
#endif
;
void deriv_in (double* arg1, ...)
#ifndef SWIGPYTHON
#ifdef __GNUC__
#if __GNUC__ >= 4
__attribute__((sentinel))
#endif
#endif
#endif
;
void state_out(double* arg1, ...)
#ifndef SWIGPYTHON
#ifdef __GNUC__
#if __GNUC__ >= 4
__attribute__((sentinel))
#endif
#endif
#endif
;
void deriv2_in (double* arg1, ...)
#ifndef SWIGPYTHON
#ifdef __GNUC__
#if __GNUC__ >= 4
__attribute__((sentinel))
#endif
#endif
#endif
;
int num_state;
int intermediate_step;
bool first_step_deriv;
bool last_step_deriv;
bool is_2nd_order_ODE_technique; // -- set by integration technique
bool use_deriv2; // -- set by integration technique
double dt; // -- set by IntegLoopSimObject.cpp
double *state;
double **deriv;
double **deriv2;
double **state_ws;
double time;
double time_0;
int verbosity;
virtual bool get_first_step_deriv() ;
virtual void set_first_step_deriv(bool first_step) ;
virtual bool get_last_step_deriv() ;
virtual void set_last_step_deriv(bool last_step) ;
virtual void set_verbosity(int level);
virtual void reset() {}
virtual Integrator_type get_Integrator_type() { return (User_Defined); };
};
Integrator* getIntegrator( Integrator_type Alg, unsigned int State_size, double Dt = 0.0 );
// Integrator* getEr7Integrator(
// er7_utils::Integration::Technique, unsigned int State_size, double Dt);
// void deleteIntegrator( Integrator*&);
}
#endif