OdeSolver.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_ODESOLVER_H
17 #define SURGSIM_MATH_ODESOLVER_H
18 
19 #include <functional>
20 #include <unordered_map>
21 
22 #include <boost/assign/list_of.hpp> // for 'map_list_of()'
23 
25 #include "SurgSim/Math/Matrix.h"
27 
28 namespace SurgSim
29 {
30 
31 namespace Math
32 {
33 
37 {
49 };
50 
51 const std::unordered_map<IntegrationScheme, std::string, std::hash<int>> IntegrationSchemeNames =
52  boost::assign::map_list_of
53  (INTEGRATIONSCHEME_STATIC, "INTEGRATIONSCHEME_STATIC")
54  (INTEGRATIONSCHEME_LINEAR_STATIC, "INTEGRATIONSCHEME_LINEAR_STATIC")
55  (INTEGRATIONSCHEME_EULER_EXPLICIT, "INTEGRATIONSCHEME_EULER_EXPLICIT")
56  (INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, "INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT")
57  (INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, "INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED")
58  (INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, "INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED")
59  (INTEGRATIONSCHEME_EULER_IMPLICIT, "INTEGRATIONSCHEME_EULER_IMPLICIT")
60  (INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, "INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT")
61  (INTEGRATIONSCHEME_RUNGE_KUTTA_4, "INTEGRATIONSCHEME_RUNGE_KUTTA_4")
62  (INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4, "INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4");
63 
78 class OdeSolver
79 {
80 public:
83  explicit OdeSolver(OdeEquation* equation);
84 
86  virtual ~OdeSolver()
87  {}
88 
91  const std::string getName() const;
92 
95  void setLinearSolver(std::shared_ptr<LinearSparseSolveAndInverse> linearSolver);
96 
99  std::shared_ptr<LinearSparseSolveAndInverse> getLinearSolver() const;
100 
106  virtual void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) = 0;
107 
112  void computeMatrices(double dt, const OdeState& state, bool computeCompliance = true);
113 
116  const SparseMatrix& getSystemMatrix() const;
117 
119  const Matrix& getComplianceMatrix() const;
120 
121 protected:
129  virtual void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState,
130  bool computeRHS = true) = 0;
131 
137 
141 
144 
146  std::shared_ptr<LinearSparseSolveAndInverse> m_linearSolver;
147 
153 
156 
159 };
160 
161 }; // namespace Math
162 
163 }; // namespace SurgSim
164 
165 #endif // SURGSIM_MATH_ODESOLVER_H
LinearSparseSolveAndInverse.h
SurgSim::Math::OdeSolver::assembleLinearSystem
virtual void assembleLinearSystem(double dt, const OdeState &state, const OdeState &newState, bool computeRHS=true)=0
Assemble the linear system (A.x=b) to be solved for the state and new states (useful for certain ode ...
SurgSim::Math::IntegrationSchemeNames
const std::unordered_map< IntegrationScheme, std::string, std::hash< int > > IntegrationSchemeNames
Definition: OdeSolver.h:51
SurgSim::Math::OdeSolver::getName
const std::string getName() const
Gets the solver's name.
Definition: OdeSolver.cpp:31
SurgSim::Math::OdeState
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
SurgSim::Math::OdeSolver::m_equation
OdeEquation & m_equation
The ode equation (API providing the necessary evaluation methods and the initial state)
Definition: OdeSolver.h:143
SurgSim::Math::OdeSolver::~OdeSolver
virtual ~OdeSolver()
Virtual destructor.
Definition: OdeSolver.h:86
SurgSim::Math::OdeSolver::OdeSolver
OdeSolver(OdeEquation *equation)
Constructor.
Definition: OdeSolver.cpp:25
SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT
@ INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT
Definition: OdeSolver.h:45
SurgSim::Math::OdeSolver::getSystemMatrix
const SparseMatrix & getSystemMatrix() const
Queries the current system matrix.
Definition: OdeSolver.cpp:46
Matrix.h
SurgSim::Math::OdeSolver::m_rhs
Vector m_rhs
Definition: OdeSolver.h:155
SurgSim::Math::IntegrationScheme
IntegrationScheme
The diverse numerical integration scheme supported Each Ode Solver should have its own entry in this ...
Definition: OdeSolver.h:36
SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED
@ INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED
Definition: OdeSolver.h:43
SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT
@ INTEGRATIONSCHEME_EULER_IMPLICIT
Definition: OdeSolver.h:44
SurgSim::Math::OdeSolver::m_complianceMatrix
Matrix m_complianceMatrix
Compliance matrix which is the inverse of the system matrix, including boundary conditions.
Definition: OdeSolver.h:158
SurgSim::Math::OdeSolver::getComplianceMatrix
const Matrix & getComplianceMatrix() const
Definition: OdeSolver.cpp:51
SurgSim::Math::OdeSolver::m_systemMatrix
SparseMatrix m_systemMatrix
Linear system matrix (can be M, K, combination of MDK depending on the solver), including boundary co...
Definition: OdeSolver.h:152
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Math::OdeSolver::m_linearSolver
std::shared_ptr< LinearSparseSolveAndInverse > m_linearSolver
The specialized linear solver to use when solving the ode equation.
Definition: OdeSolver.h:146
SurgSim::Math::OdeSolver::setLinearSolver
void setLinearSolver(std::shared_ptr< LinearSparseSolveAndInverse > linearSolver)
Sets the specialized linear solver to use with this Ode solver.
Definition: OdeSolver.cpp:36
SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC
@ INTEGRATIONSCHEME_LINEAR_STATIC
Definition: OdeSolver.h:39
SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4
@ INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4
Definition: OdeSolver.h:47
SurgSim::Math::OdeSolver::solve
virtual void solve(double dt, const OdeState &currentState, OdeState *newState, bool computeCompliance=true)=0
Solves the equation.
SurgSim::Math::OdeSolver::getLinearSolver
std::shared_ptr< LinearSparseSolveAndInverse > getLinearSolver() const
Gets the specialized linear solver used with this Ode solver.
Definition: OdeSolver.cpp:41
SurgSim::Math::OdeSolver::computeMatrices
void computeMatrices(double dt, const OdeState &state, bool computeCompliance=true)
Computes the system and compliance matrices for a given state.
Definition: OdeSolver.cpp:57
SurgSim::Math::SparseMatrix
Eigen::SparseMatrix< double > SparseMatrix
A sparse matrix.
Definition: SparseMatrix.h:32
SurgSim::Math::OdeSolver::m_name
std::string m_name
Name for this solver.
Definition: OdeSolver.h:140
SurgSim::Math::MAX_INTEGRATIONSCHEMES
@ MAX_INTEGRATIONSCHEMES
Definition: OdeSolver.h:48
SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED
@ INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED
Definition: OdeSolver.h:42
SurgSim::Math::INTEGRATIONSCHEME_STATIC
@ INTEGRATIONSCHEME_STATIC
Definition: OdeSolver.h:38
SurgSim::Math::OdeEquation
Ode equation of 2nd order of the form with for initial conditions and a set of boundary conditions.
Definition: OdeEquation.h:54
SurgSim::Math::OdeSolver
Base class for all solvers of ode equation of order 2 of the form .
Definition: OdeSolver.h:78
SurgSim::Math::OdeSolver::computeComplianceMatrixFromSystemMatrix
void computeComplianceMatrixFromSystemMatrix(const OdeState &state)
Helper method computing the compliance matrix from the system matrix and setting the boundary conditi...
Definition: OdeSolver.cpp:69
SurgSim::Math::OdeSolver::m_solution
Vector m_solution
Linear system solution and rhs vectors (including boundary conditions)
Definition: OdeSolver.h:155
SurgSim::Math::Vector
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT
@ INTEGRATIONSCHEME_EULER_EXPLICIT
Definition: OdeSolver.h:40
string
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4
@ INTEGRATIONSCHEME_RUNGE_KUTTA_4
Definition: OdeSolver.h:46
OdeEquation.h
SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT
@ INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT
Definition: OdeSolver.h:41
SurgSim::Math::Matrix
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65