A generic abstract integration scheme. More...

#include <Time.hpp>

Inheritance diagram for moordyn::time::SchemeBase< NSTATE, NDERIV >:

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Collaboration diagram for moordyn::time::SchemeBase< NSTATE, NDERIV >:

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Classes
struct	_mask
	A mask to determine which entities shall be computed. More...

Public Member Functions
virtual	~SchemeBase ()
	Destructor.

virtual void	AddLine (Line *obj)
	Add a line. More...

virtual unsigned int	RemoveLine (Line *obj)
	Remove a line. More...

virtual void	AddPoint (Point *obj)
	Add a point. More...

virtual unsigned int	RemovePoint (Point *obj)
	Remove a point. More...

virtual void	AddRod (Rod *obj)
	Add a rod. More...

virtual unsigned int	RemoveRod (Rod *obj)
	Remove a rod. More...

virtual void	AddBody (Body *obj)
	Add a body. More...

virtual unsigned int	RemoveBody (Body *obj)
	Remove a body. More...

virtual void	Init ()
	Create an initial state for all the entities. More...

virtual void	Step (real &dt)
	Run a time step. More...

virtual void	SetState (const state::State &state, unsigned int i=0)
	Resume the simulation from the stationary solution. More...

virtual void	SaveState (const std::string filepath, unsigned int i=0)
	Save the system state on a file. More...

virtual void	LoadState (const std::string filepath, unsigned int i=0)
	Load the system state from a file. More...

state::State *	rd (unsigned int i=0)
	Get the state derivative. More...

virtual std::vector< uint64_t >	Serialize (void)
	Produce the packed data to be saved. More...

virtual uint64_t *	Deserialize (const uint64_t *data)
	Unpack the data to restore the Serialized information. More...


state::State *	r (unsigned int i=0)
	Get the state. More...

state::State	GetState (unsigned int i=0)
	Get the state variable. More...

Public Member Functions inherited from moordyn::time::Scheme
virtual	~Scheme ()
	Destructor.

void	SetGround (Body *obj)
	Set the ground body. More...

std::string	GetName () const
	Get the name of the scheme. More...

real	GetTime () const
	Get the simulation time. More...

void	SetTime (const real &time)
	Set the simulation time. More...

real	GetCFL () const
	Get the CFL factor. More...

void	SetCFL (const real &cfl)
	Set the CFL factor. More...

void	Next ()
	Prepare everything for the next outer time step. More...

Public Member Functions inherited from moordyn::io::IO
	IO (moordyn::Log *log)
	Costructor. More...

virtual	~IO ()=default
	Destructor.

void	Save (const std::string filepath)
	Save the entity into a file. More...

void	Load (const std::string filepath)
	Loads the entity from a file. More...

Public Member Functions inherited from moordyn::LogUser
	LogUser (Log *log=NULL)
	Constructor. More...

	~LogUser ()
	Destructor.

void	SetLogger (Log *log)
	Set the log handler. More...

Log *	GetLogger () const
	Get the log handler. More...

Protected Types
typedef struct moordyn::time::SchemeBase::_mask	mask
	A mask to determine which entities shall be computed. More...

Protected Member Functions
	SchemeBase (moordyn::Log *log, moordyn::WavesRef waves)
	Constructor. More...

void	Update (real t_local, unsigned int substep=0)
	Update all the entities to set the state. More...

void	CalcStateDeriv (unsigned int substep=0)
	Compute the time derivatives and store them. More...

Protected Member Functions inherited from moordyn::time::Scheme
	Scheme (moordyn::Log *log)
	Constructor. More...

Protected Member Functions inherited from moordyn::io::IO
ofstream	MakeFile (const std::string filepath) const
	Create an output file and write the MoorDyn magic header. More...

std::tuple< uint64_t, uint64_t * >	LoadFile (const std::string filepath) const
	Open an input file and load the data. More...

uint64_t	Serialize (const uint64_t &i)
	Pack an unsigned integer to make it writable. More...

uint64_t	Serialize (const int64_t &i)
	Pack an integer to make it writable. More...

uint64_t	Serialize (const real &f)
	Pack a float to make it writable. More...

std::vector< uint64_t >	Serialize (const vec &m)
	Pack a 3D vector to make it writable. More...

std::vector< uint64_t >	Serialize (const vec6 &m)
	Pack a 6D vector to make it writable. More...

std::vector< uint64_t >	Serialize (const mat &m)
	Pack a 3x3 matrix to make it writable. More...

std::vector< uint64_t >	Serialize (const mat6 &m)
	Pack a 6x6 matrix to make it writable. More...

std::vector< uint64_t >	Serialize (const quaternion &m)
	Pack a quaternion to make it writable. More...

std::vector< uint64_t >	Serialize (const XYZQuat &m)
	Pack an XYZQuat to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< real > &l)
	Pack a list of floating point numbers to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< vec > &l)
	Pack a list of 3D vectors to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< vec6 > &l)
	Pack a list of 6D vectors to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< mat > &l)
	Pack a list of 3x3 matrices to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< mat6 > &l)
	Pack a list of 6x6 matrices to make it writable. More...

std::vector< uint64_t >	Serialize (const Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > &l)
	Pack an arbitrarily large matrix. More...

template<typename T >
std::vector< uint64_t >	Serialize (const std::vector< std::vector< T >> &l)
	Pack a list of lists to make it writable This function might act recursively. More...

uint64_t *	Deserialize (const uint64_t *in, uint64_t &out)
	Unpack a loaded unsigned integer. More...

uint64_t *	Deserialize (const uint64_t *in, int64_t &out)
	Unpack a loaded integer. More...

uint64_t *	Deserialize (const uint64_t *in, real &out)
	Unpack a loaded floating point number. More...

uint64_t *	Deserialize (const uint64_t *in, vec &out)
	Unpack a loaded 3D vector. More...

uint64_t *	Deserialize (const uint64_t *in, vec6 &out)
	Unpack a loaded 6D vector. More...

uint64_t *	Deserialize (const uint64_t *in, mat &out)
	Unpack a loaded 3x3 matrix. More...

uint64_t *	Deserialize (const uint64_t *in, mat6 &out)
	Unpack a loaded 6x6 matrix. More...

uint64_t *	Deserialize (const uint64_t *in, quaternion &out)
	Unpack a loaded quaternion. More...

uint64_t *	Deserialize (const uint64_t *in, XYZQuat &out)
	Unpack a loaded XYZQuat. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< real > &out)
	Unpack a loaded list of floating point numbers. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< vec > &out)
	Unpack a loaded list of 3D vectors. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< vec6 > &out)
	Unpack a loaded list of 6D vectors. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< mat > &out)
	Unpack a loaded list of 3x3 matrices. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< mat6 > &out)
	Unpack a loaded list of 6x6 matrices. More...

uint64_t *	Deserialize (const uint64_t *in, Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > &out)
	Unpack an arbitrarily large matrix. More...

template<typename T >
uint64_t *	Deserialize (const uint64_t *in, std::vector< std::vector< T >> &out)
	Unpack a loaded list of lists. More...

Protected Attributes
std::array< moordyn::state::State *, NSTATE >	_r
	The list of states.

std::array< moordyn::state::State *, NDERIV >	_rd
	The list of state derivatives.

std::shared_ptr< Waves >	waves
	The waves instance.

mask	_calc_mask
	The SchemeBase::CalcStateDeriv() mask.

Protected Attributes inherited from moordyn::time::Scheme
Body *	ground
	The ground body.

std::vector< Line * >	lines
	The lines.

std::vector< Point * >	points
	The points.

std::vector< Rod * >	rods
	The rods.

std::vector< Body * >	bodies
	The bodies.

std::string	name
	The scheme name.

real	t
	The simulation time.

real	t_local
	The local time, within the outer time step.

real	cfl
	Maximum CFL factor.

Protected Attributes inherited from moordyn::LogUser
Log *	_log
	The log handler.

Detailed Description

template<unsigned int NSTATE, unsigned int NDERIV>
class moordyn::time::SchemeBase< NSTATE, NDERIV >

A generic abstract integration scheme.

This class can be later overloaded to implement a plethora of time schemes

Member Typedef Documentation

◆ mask

template<unsigned int NSTATE, unsigned int NDERIV>

typedef struct moordyn::time::SchemeBase::_mask moordyn::time::SchemeBase< NSTATE, NDERIV >::mask

protected

A mask to determine which entities shall be computed.

Useful for local time steps

Constructor & Destructor Documentation

◆ SchemeBase()

template<unsigned int NSTATE, unsigned int NDERIV>

moordyn::time::SchemeBase< NSTATE, NDERIV >::SchemeBase	(	moordyn::Log *	log,
		moordyn::WavesRef	waves
	)

inlineprotected

Constructor.

Parameters

log	Logging handler
waves	The simulation waves object, needed so that we can tell it about substeps

Member Function Documentation

◆ AddBody()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::AddBody ( Body * obj )

inlinevirtual

Add a body.

Parameters

obj The body

Exceptions

moordyn::invalid_value_error If it has been already registered

Reimplemented from moordyn::time::Scheme.

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◆ AddLine()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::AddLine ( Line * obj )

inlinevirtual

Add a line.

Parameters

obj The line

Exceptions

moordyn::invalid_value_error If it has been already registered

Reimplemented from moordyn::time::Scheme.

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◆ AddPoint()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::AddPoint ( Point * obj )

inlinevirtual

Add a point.

Parameters

obj The point

Exceptions

moordyn::invalid_value_error If it has been already registered

Reimplemented from moordyn::time::Scheme.

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◆ AddRod()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::AddRod ( Rod * obj )

inlinevirtual

Add a rod.

Parameters

obj The rod

Exceptions

moordyn::invalid_value_error If it has been already registered

Reimplemented from moordyn::time::Scheme.

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◆ CalcStateDeriv()

template<unsigned int NSTATE, unsigned int NDERIV>

void moordyn::time::SchemeBase< NSTATE, NDERIV >::CalcStateDeriv ( unsigned int substep = 0 )

protected

Compute the time derivatives and store them.

Parameters

substep The index within moordyn::SchemeBase::rd where the info will be saved

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◆ Deserialize()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual uint64_t* moordyn::time::SchemeBase< NSTATE, NDERIV >::Deserialize ( const uint64_t * data )

inlinevirtual

Unpack the data to restore the Serialized information.

This is the function that each inherited class must implement, and should be the inverse of Serialize(void)

Parameters

data	The packed data

Returns: A pointer to the end of the file, for debugging purposes

Implements moordyn::io::IO.

Reimplemented in moordyn::time::ABScheme< order, local >.

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◆ GetState()

template<unsigned int NSTATE, unsigned int NDERIV>

state::State moordyn::time::SchemeBase< NSTATE, NDERIV >::GetState ( unsigned int i = 0 )

inlinevirtual

Get the state variable.

Parameters

i	The index of the state variable to take

Returns: The state variable

Implements moordyn::time::Scheme.

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◆ Init()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::Init ( )

inlinevirtual

Create an initial state for all the entities.

Note: Just the first state is written. None of the following states nor the derivatives are initialized in any way.; It is assumed that the coupled entities were already initialized

Implements moordyn::time::Scheme.

Reimplemented in moordyn::time::LocalSchemeBase< NSTATE, NDERIV >, moordyn::time::LocalSchemeBase< 1, 1 >, and moordyn::time::LocalSchemeBase< 1, 5 >.

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◆ LoadState()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::LoadState	(	const std::string	filepath,
		unsigned int	i = `0`
	)

inlinevirtual

Load the system state from a file.

Parameters

filepath	The output file path
i	The index of the state variable to overwrite

Exceptions

moordyn::invalid_value_error	if the `i` index is greater or equal than the number of states
moordyn::mem_error	if the expected size of the serialized data is not met

Reimplemented from moordyn::time::Scheme.

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◆ r()

template<unsigned int NSTATE, unsigned int NDERIV>

state::State* moordyn::time::SchemeBase< NSTATE, NDERIV >::r ( unsigned int i = 0 )

inline

Get the state.

Parameters

i	The index of the state variable to take

Returns: The state variable

Exceptions

moordyn::invalid_value_error if the i index is greater or equal than the number of states

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◆ rd()

template<unsigned int NSTATE, unsigned int NDERIV>

state::State* moordyn::time::SchemeBase< NSTATE, NDERIV >::rd ( unsigned int i = 0 )

inline

Get the state derivative.

Parameters

i	The index of the state derivative to take

Returns: The state derivative

Exceptions

moordyn::invalid_value_error if the i index is greater or equal than the number of state derivatives

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◆ RemoveBody()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual unsigned int moordyn::time::SchemeBase< NSTATE, NDERIV >::RemoveBody ( Body * obj )

inlinevirtual

Remove a body.

Parameters

obj The body

Returns: The index of the removed entity

Exceptions

moordyn::invalid_value_error If the body has not been registered, or it was already removed

Reimplemented from moordyn::time::Scheme.

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◆ RemoveLine()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual unsigned int moordyn::time::SchemeBase< NSTATE, NDERIV >::RemoveLine ( Line * obj )

inlinevirtual

Remove a line.

Parameters

obj The line

Returns: The index of the removed entity

Exceptions

moordyn::invalid_value_error If the line has not been registered, or it was already removed

Reimplemented from moordyn::time::Scheme.

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◆ RemovePoint()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual unsigned int moordyn::time::SchemeBase< NSTATE, NDERIV >::RemovePoint ( Point * obj )

inlinevirtual

Remove a point.

Parameters

obj The point

Returns: The index of the removed entity

Exceptions

moordyn::invalid_value_error If the point has not been registered, or it was already removed

Reimplemented from moordyn::time::Scheme.

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◆ RemoveRod()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual unsigned int moordyn::time::SchemeBase< NSTATE, NDERIV >::RemoveRod ( Rod * obj )

inlinevirtual

Remove a rod.

Parameters

obj The rod

Returns: The index of the removed entity

Exceptions

moordyn::invalid_value_error If the rod has not been registered, or it was already removed

Reimplemented from moordyn::time::Scheme.

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◆ SaveState()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::SaveState	(	const std::string	filepath,
		unsigned int	i = `0`
	)

inlinevirtual

Save the system state on a file.

Parameters

filepath	The output file path
i	The index of the state variable to serialize

Exceptions

moordyn::invalid_value_error if the i index is greater or equal than the number of states

Reimplemented from moordyn::time::Scheme.

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◆ Serialize()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual std::vector<uint64_t> moordyn::time::SchemeBase< NSTATE, NDERIV >::Serialize ( void )

inlinevirtual

Produce the packed data to be saved.

The produced data can be used afterwards to restore the saved information afterwards calling Deserialize(void).

Returns: The packed data

Implements moordyn::io::IO.

Reimplemented in moordyn::time::ABScheme< order, local >.

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◆ SetState()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::SetState	(	const state::State &	state,
		unsigned int	i = `0`
	)

inlinevirtual

Resume the simulation from the stationary solution.

Parameters

state	The stationary solution
i	The index of the state variable to take

Exceptions

moordyn::invalid_value_error if the i index is greater or equal than the number of states

Reimplemented from moordyn::time::Scheme.

Reimplemented in moordyn::time::LocalSchemeBase< NSTATE, NDERIV >, moordyn::time::LocalSchemeBase< 1, 1 >, and moordyn::time::LocalSchemeBase< 1, 5 >.

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◆ Step()

template<unsigned int NSTATE, unsigned int NDERIV>

virtual void moordyn::time::SchemeBase< NSTATE, NDERIV >::Step ( real & dt )

inlinevirtual

Run a time step.

This function is the one that must be specialized on each time scheme, but remember to call it at the end of the inherited function to increment Scheme::t_local

Parameters

dt Time step

Reimplemented from moordyn::time::Scheme.

Reimplemented in moordyn::time::ImplicitWilsonScheme, moordyn::time::ImplicitNewmarkScheme, moordyn::time::ImplicitEulerScheme, moordyn::time::ABScheme< order, local >, moordyn::time::RK4Scheme, moordyn::time::RK2Scheme, moordyn::time::HeunScheme, moordyn::time::LocalEulerScheme, moordyn::time::EulerScheme, and moordyn::time::StationaryScheme.

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◆ Update()

template<unsigned int NSTATE, unsigned int NDERIV>

void moordyn::time::SchemeBase< NSTATE, NDERIV >::Update	(	real	t_local,
		unsigned int	substep = `0`
	)

protected

Update all the entities to set the state.

Parameters

substep	The index within moordyn::SchemeBase::r that will be applied to set the states
t_local	The local time, within the inner time step (from 0 to dt)

Note: This is only affecting to the free entities

See also: Scheme::Next(); Scheme::Step()

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

/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/Time.hpp
/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/Time.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<unsigned int NSTATE, unsigned int NDERIV> class moordyn::time::SchemeBase< NSTATE, NDERIV >

Member Typedef Documentation

◆ mask

Constructor & Destructor Documentation

◆ SchemeBase()

Member Function Documentation

◆ AddBody()

◆ AddLine()

◆ AddPoint()

◆ AddRod()

◆ CalcStateDeriv()

◆ Deserialize()

◆ GetState()

◆ Init()

◆ LoadState()

◆ r()

◆ rd()

◆ RemoveBody()

◆ RemoveLine()

◆ RemovePoint()

◆ RemoveRod()

◆ SaveState()

◆ Serialize()

◆ SetState()

◆ Step()

◆ Update()

template<unsigned int NSTATE, unsigned int NDERIV>
class moordyn::time::SchemeBase< NSTATE, NDERIV >