1 #ifndef SimTK_SIMMATH_GCVSPL_UTIL_H_ 2 #define SimTK_SIMMATH_GCVSPL_UTIL_H_ 69 for (
int j = 0; j < K; ++j)
70 for (
int i = 0; i < ny; ++i)
71 yvec[index++] =
y[i][j];
79 SimTK_gcvspl_(&x[0], &yvec[0], &ny, &wx[0], &wy[0], &m, &n, &k, &md, &val, &cvec[0], &n, &wk[0], &ier);
87 for (
int j = 0; j < K; ++j)
88 for (
int i = 0; i <
n; ++i)
89 c[i][j] = cvec[index++];
94 assert(derivOrder >= 0);
95 assert(t >= x[0] && t <= x[x.
size()-1]);
96 assert(x.
size() == coeff.size());
97 assert(degree > 0 && degree%2==1);
104 int m = (degree+1)/2;
106 int interval = (int) ceil(n*(t-x[0])/(x[n-1]-x[0]));
108 const int MaxCheapM = 32;
109 Real qbuf[2*MaxCheapM];
115 int offset = (int) (&coeff[1][0]-&coeff[0][0]);
119 for (
int i = 0; i < K; ++i)
120 result[i] =
SimTK_splder_(&derivOrder, &m, &n, &t, &x[0], &coeff[0][i], &interval, q, offset);
130 #endif // SimTK_SIMMATH_GCVSPL_UTIL_H_
#define SimTK_APIARGCHECK_ALWAYS(cond, className, methodName, msg)
Definition: ExceptionMacros.h:224
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
int SimTK_gcvspl_(const SimTK::Real *, const SimTK::Real *, int *, const SimTK::Real *, const SimTK::Real *, int *, int *, int *, int *, SimTK::Real *, SimTK::Real *, int *, SimTK::Real *, int *)
int size() const
Definition: VectorBase.h:396
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
аЯ рЁБ с ўџ З Й ўџџџ Г Д Е Ж џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџьЅС ј П ч bjbjcTcT кй Г У Л t џџ џџ џџ З С K K K D џџџџ 2 ZЦ j J a n u a r y
Definition: Simmatrix.doc:5
m
Definition: CMakeCache.txt:469
This class provides entry points for using the GCVSPL algorithm in terms of SimTK data types...
Definition: GCVSPLUtil.h:44
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:605
static Real splder(int derivOrder, int degree, Real t, const Vector &x, const Vector &coeff)
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
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Definition: SimmathUserGuide.doc:2262
This is the header file that every Simmath compilation unit should include first. ...
that it contains events that have triggered but have not been processed Thus it is not a legitimate point along the systems trajectory and should never be returned to the caller For discussion we label this improper state EMBED Equation DSMT4 The event handler will correct the state creating a modified state with time still at thigh but not triggering any events We label the modified state EMBED Equation DSMT4 Once the systems handler the state EMBED Equation DSMT4 can be output as part of the trajectory and used as the initial condition for the next continuous interval Thus the time stepper generates the sequence of legitimate trajectory points just prior to event immediately followed by EMBED Equation DSMT4 which is the time at which the but after the event handler has modified the state to deal with those events Consecutive intervals I and I will consist of trajectory points EMBED Equation DSMT4 with round brackets indicating that EMBED Equation DSMT4 is not part of the trajectory Event handlers Event handlers are solvers which are able to take a state in an resolve the set up appropriate event triggers for the next interval
Definition: SimmathUserGuide.doc:219
SimTK::Real SimTK_splder_(int *, int *, int *, SimTK::Real *, const SimTK::Real *, const SimTK::Real *, int *, SimTK::Real *, int)
static void gcvspl(const Vector &x, const Vector &y, const Vector &wx, Real wy, int m, int md, Real val, Vector &c, Vector &wk, int &ier)
VectorBase & resize(int m)
Definition: VectorBase.h:451
bool hasContiguousData() const
Definition: MatrixBase.h:838
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
аЯ рЁБ с ўџ З Й ўџџџ Г Д Е Ж џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџьЅС ј П ч bjbjcTcT кй Г У Л t џџ џџ џџ З С K K K D џџџџ 2 ZЦ j J a n u a r A b s t r a c t W e d e s c r i b e t h e g o a l s a n d d e s i g n d e c i s i o n b e h i n d S i m m a t r i x
Definition: Simmatrix.doc:5