File implicitTimeStepper.h

class implicitTimeStepper : public baseTimeStepper

Subclassed by backwardEuler

Public Functions

implicitTimeStepper(const shared_ptr<softRobots> &soft_robots, const shared_ptr<forceContainer> &forces, const simParams &sim_params, solverType solver_type)

~implicitTimeStepper() override

virtual void addJacobian(int ind1, int ind2, double p, int limb_idx) override

virtual void addJacobian(int ind1, int ind2, double p, int limb_idx1, int limb_idx2) override

virtual void setZero() override

virtual void update() override

virtual void integrator() override

virtual void initStepper() override

virtual void prepSystemForIteration() override

virtual double newtonMethod(double dt) = 0

virtual void lineSearch(double dt) = 0

Public Members

MKL_INT *ia

vector<pair<int, int>> non_zero_elements

double *dgbsv_jacobian

int kl

int ku

int num_rows

Protected Functions

template<solverType solver_type>
virtual void addJacobian(int ind1, int ind2, double p, int limb_idx1, int limb_idx2)

Protected Attributes

double ftol

double dtol

int max_iter

bool line_search

double orig_dt

bool adaptive_time_stepping

int adaptive_time_stepping_threshold

Private Functions

shared_ptr<implicitTimeStepper> shared_from_this()

Private Members

unique_ptr<baseSolver> solver

solverType solver_type

int dgbsv_jacobian_len