Solve differential-algebraic equation system using DASPK. More...

#include <Omu_IntDASPK.h>

Inheritance diagram for Omu_IntDASPK:

Public Member Functions
	Omu_IntDASPK ()
	constructor

	~Omu_IntDASPK ()
	destructor

Implementation of predefined methods.
See Also Omu_Integrator
const char *	name ()
	Name of a specific integrator. More...

virtual void	init (int k, const Omu_StateVec &xc, const Omu_Vec &q, const Omu_DependentVec &Fc, bool sa)
	Initialize integrator, like adaptation of array dimensions and test of pre-conditions, like explicit ODE. More...

virtual void	solve (int kk, double tstart, double tend, Omu_StateVec &xc, Omu_StateVec &dxc, Omu_Vec &q, Omu_DependentVec &Fc)
	Solve differential equations over one sample period. More...

Callback routines for DASPK.
void	res (freal t, freal x, freal xprime, freal delta, fint ires, freal rpar, fint ipar, freal senpar)

void	jac (freal t, freal y, freal yprime, freal pd, freal cj, freal rpar, fint ipar, freal senpar, fint *ijac)

Public Member Functions inherited from Omu_Integrator
	Omu_Integrator ()
	constructor

virtual	~Omu_Integrator ()
	destructor

virtual void	setup_stages (const Omu_Program *sys)
	Setup stages for integrator. More...

virtual void	setup_struct (int k, const Omu_VariableVec &x, const Omu_VariableVec &u, const Omu_DependentVec &Ft)
	Setup struct for one stage k. More...

virtual void	init_stage (int k, const Omu_VariableVec &x, const Omu_VariableVec &u, const Omu_DependentVec &Ft, bool sa=false)
	Initialize solution of differential equations for stage k. More...

virtual void	solve (int kk, double tstart, double tend, const Omu_VariableVec &x, const Omu_VariableVec &u, Omu_Program *sys, Omu_DependentVec &Ft, Omu_StateVec &xt)
	Solve differential equations over one sample period. More...

virtual void	residual (int kk, double t, const Omu_StateVec &xc, const Omu_StateVec &dxc, const Omu_Vec &q, Omu_DependentVec &Fc)
	Callback to evaluate residuals of continuous-time equations. More...

int	K () const
	get number of stages for which integrator has been set up

Protected Attributes
int	_jac_sbw
	User given semi-bandwidth of Jacobian (default: -1). More...

bool	_banded
	User specification to allow banded solver (default: true). More...

bool	_banded_solver
	internal flag for using banded solver

bool	_krylov
	User specification if Krylov iterative solver should be used instead of direct solver (default: false).

bool	_krylov_prec
	User specification if a preconditioner should be used by the Krylov iterative solver (default: true). More...

bool	_with_jac
	User specification if externally provided Jacobian should be used (default: true). More...

int	_nsteps
	User defined fixed number of steps. More...

Protected Attributes inherited from Omu_Integrator
Omu_Program *	_sys
	Pointer to problem definition that is valid during solve.

int	_K
	number of stages for which integrator was set up

int	_k
	index of current stage

int	_kk
	index of current sample period

int	_nxt
	total number of DAE states

int	_nd
	number of discrete-time states

int	_nv
	number of expansion variables

int	_na
	number of algebraic states (no time derivative)

int	_nx
	number of states treated by optimizer (nx=nxt-nv)

int	_nu
	number of control parameters

int	_nq
	number of sensitivity parameters (nq=nx+nu)

bool	_sa
	Indicate if sensitivity analysis is required together with solution of differential equations.

bool	_serr
	Boolean to indicate if sensitivities should be considered for error tolerance (default: false).

int	_n
	Number of continuous-time states during integration (nxt-nd: total number minus discrete-time states).

int	_m
	Number of control parameters during integration (nd+nu: discrete-time states and actual control parameters).

If_List	_ifList
	container for interface elements

double	_stepsize
	Constant stepsize to be taken by integator. More...

double	_min_stepsize
	Minimal stepsize to be taken by integator. More...

double	_rtol
	Relative integration error tolerance (only for variable stepsize).

double	_atol
	Absolute integration error tolerance (only for variable stepsize).

int	_res_evals
	number of residual evaluations

int	_sen_evals
	number of sensitivity evaluations

int	_jac_evals
	number of Jacobian evaluations

Additional Inherited Members
Protected Member Functions inherited from Omu_Integrator
virtual void	init_stage (int k, const Omu_States &x, const Omu_Vector &u, bool sa=false)
	Initialize solution of differential equations for stage k. More...

virtual void	solve (int kk, double tstart, double tend, const Omu_States &x, const Omu_Vector &u, Omu_Program *sys, VECP xt, MATP Sx=MNULL, MATP Su=MNULL)
	Solve differential equations over sample period. More...

Detailed Description

Solve differential-algebraic equation system using DASPK.

Currently DASPK version 3.0 is supported (distribution file http://www.engineering.ucsb.edu/~cse/Software/ddaspk30.tar.gz).

Member Function Documentation

virtual void Omu_IntDASPK::init	(	int	k,
		const Omu_StateVec &	xc,
		const Omu_Vec &	q,
		const Omu_DependentVec &	Fc,
		bool	sa
	)

virtual

Initialize integrator, like adaptation of array dimensions and test of pre-conditions, like explicit ODE.

An explicit ODE is present if Fc.Jdx.is_scalar() and Fc.Jdx[0][0] != 0.0. An algebraic state j, 0<=j<_n can be identified with Fc.Jdx.is_zero_column[j]. Note that the init method should not find consistent initial conditions of a DAE as parameters may jump between sample periods kk afterwards.

Parameters

k	stage
xc	continuous-time states, dim(xc)=_n
q	sensitivity parameters, dim(q)=_nq
Fc	pre-initialized data structures for evaluating residuals, dim(Fc)=_n, including structurally analyzed Jacobians, dim(Fc.Jx)=_n._n, dim(Fc.Jxp)=_n._n, dim(Fc.Jq)=_n._nq
sa	indicates if sensitivity analysis is required

Reimplemented from Omu_Integrator.

const char* Omu_IntDASPK::name ( )

inlinevirtual

Name of a specific integrator.

Implements Omu_Integrator.

virtual void Omu_IntDASPK::solve	(	int	kk,
		double	tstart,
		double	tend,
		Omu_StateVec &	xc,
		Omu_StateVec &	dxc,
		Omu_Vec &	q,
		Omu_DependentVec &	Fc
	)

virtual

Solve differential equations over one sample period.

Additionally solve sensitivity equations if _sa is true. The default implementation calls the depreciated solve method.

Parameters

kk	sample period
tstart	start time for integration
tend	end time for integration
xc	continuous-time states at tstart, dim(xc)=_n; sensitivities xc.Sq at tstart, dim(xc.Sq)=_n._nq, if _sa is true
dxc	pre-allocated time derivatives of continuous-time states, dim(dxc)=_n
q	sensitivity parameters, dim(q)=_nq
Fc	pre-allocated argument for residual calls, dim(Fc)=_n, including structurally analyzed Jacobians Fc.Jx, Fc.Jdx, Fc.Jq

Return values

xc	continuous-time states at tend; sensitivities xc.Sq at tend if _sa is true

Exceptions

E_CONV indicate that the integrator failed to converge; may be caught during optimization step length test

Reimplemented from Omu_Integrator.

Member Data Documentation

bool Omu_IntDASPK::_banded

protected

User specification to allow banded solver (default: true).

Banded solvers are used if _banded is true, _jac_sbw < 0, and if the automatic detection indicates that the problem can be solved more efficiently in this way.

int Omu_IntDASPK::_jac_sbw

protected

User given semi-bandwidth of Jacobian (default: -1).

If a value >= 0 is specified, then it is used instead of the automatic detection.

bool Omu_IntDASPK::_krylov_prec

protected

User specification if a preconditioner should be used by the Krylov iterative solver (default: true).

A banded preconditioner is used if the problem is treated banded. Otherwise an incomplete LU factorization is used.

int Omu_IntDASPK::_nsteps

protected

User defined fixed number of steps.

(default: 0, i.e. variable step size based on _rtol and _atol)

bool Omu_IntDASPK::_with_jac

protected

User specification if externally provided Jacobian should be used (default: true).

Otherwise DASPK approximates it internally, which is generally more efficient for not analytically given Jacobians.

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

Omu_IntDASPK.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation