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| SOFA_CLASS (LegacyStaticODESolver, sofa::core::behavior::OdeSolver) |
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void | solve (const sofa::core::ExecParams *params, double dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override |
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auto | iteration_times () const -> const std::vector< UNSIGNED_INTEGER_TYPE > & |
| | List of times (in nanoseconds) that each Newton-Raphson iteration took to compute in the last call to Solve().
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| auto | squared_residuals () const -> const std::vector< FLOATING_POINT_TYPE > & |
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| auto | squared_initial_residual () const -> const FLOATING_POINT_TYPE & |
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| auto | iterative_linear_solver_squared_residuals () const -> const std::vector< std::vector< FLOATING_POINT_TYPE >> & |
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| auto | iterative_linear_solver_squared_rhs_norms () const -> const std::vector< FLOATING_POINT_TYPE > & |
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| double | getVelocityIntegrationFactor () const override |
| | Given a displacement as computed by the linear system inversion, how much will it affect the velocity. More...
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| double | getPositionIntegrationFactor () const override |
| | Given a displacement as computed by the linear system inversion, how much will it affect the position. More...
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virtual double | getPositionIntegrationFactor (double dt) const |
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| double | getIntegrationFactor (int inputDerivative, int outputDerivative) const override |
| | Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration), how much will it affect the output derivative of the given order. More...
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double | getIntegrationFactor (int inputDerivative, int outputDerivative, double dt) const |
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double | getSolutionIntegrationFactor (int outputDerivative) const override |
| | Given a solution of the linear system, how much will it affect the output derivative of the given order.
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double | getSolutionIntegrationFactor (int outputDerivative, double dt) const |
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Data< unsigned > | d_newton_iterations |
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Data< double > | d_correction_tolerance_threshold |
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Data< double > | d_residual_tolerance_threshold |
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Data< bool > | d_shoud_diverge_when_residual_is_growing |
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Data< bool > | d_warm_start |
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Data< bool > | d_converged |
| | OUTPUTS Whether or not the last call to solve converged.
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◆ getIntegrationFactor()
| double SofaCaribou::ode::LegacyStaticODESolver::getIntegrationFactor |
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int |
inputDerivative, |
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int |
outputDerivative |
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inlineoverride |
Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration), how much will it affect the output derivative of the given order.
This method is used to compute the compliance for contact corrections. For example, a backward-Euler dynamic implicit integrator would use: Input: x_t v_t a_{t+dt} x_{t+dt} 1 dt dt^2 v_{t+dt} 0 1 dt
If the linear system is expressed on s = a_{t+dt} dt, then the final factors are: Input: x_t v_t a_t s x_{t+dt} 1 dt 0 dt v_{t+dt} 0 1 0 1 a_{t+dt} 0 0 0 1/dt The last column is returned by the getSolutionIntegrationFactor method.
◆ getPositionIntegrationFactor()
| double SofaCaribou::ode::LegacyStaticODESolver::getPositionIntegrationFactor |
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const |
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Given a displacement as computed by the linear system inversion, how much will it affect the position.
This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt².
◆ getVelocityIntegrationFactor()
| double SofaCaribou::ode::LegacyStaticODESolver::getVelocityIntegrationFactor |
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const |
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Given a displacement as computed by the linear system inversion, how much will it affect the velocity.
This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt.
◆ iterative_linear_solver_squared_residuals()
| auto SofaCaribou::ode::LegacyStaticODESolver::iterative_linear_solver_squared_residuals |
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const -> const std::vector<std::vector<FLOATING_POINT_TYPE>> & |
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The list of squared residual norms (||r||^2) of every iterative linear solver iterations, for each newton iterations of the last solve call.
◆ iterative_linear_solver_squared_rhs_norms()
| auto SofaCaribou::ode::LegacyStaticODESolver::iterative_linear_solver_squared_rhs_norms |
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const -> const std::vector<FLOATING_POINT_TYPE> & |
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List of squared right-hand side norms (||b||^2) of every newton iterations before the call to the solve method of the iterative linear solver.
◆ squared_initial_residual()
| auto SofaCaribou::ode::LegacyStaticODESolver::squared_initial_residual |
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const -> const FLOATING_POINT_TYPE & |
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The initial squared residual (||r0||^2) of the last solve call.
◆ squared_residuals()
| auto SofaCaribou::ode::LegacyStaticODESolver::squared_residuals |
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const -> const std::vector<FLOATING_POINT_TYPE> & |
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The list of squared residual norms (||r||^2) of every newton iterations of the last solve call.
The documentation for this class was generated from the following files:
- /home/jnbrunet/sources/caribou/src/Plugin/Ode/LegacyStaticODESolver.h
- /home/jnbrunet/sources/caribou/src/Plugin/Ode/LegacyStaticODESolver.cpp
