/usr/include/SurgSim/Math/OdeSolverEulerImplicit.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H
#define SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H
#include "SurgSim/Math/OdeSolver.h"
namespace SurgSim
{
namespace Math
{
/// Euler implicit (a.k.a backward Euler) ode solver (see %OdeSolverEulerImplicit.dox for more details).
class OdeSolverEulerImplicit : public OdeSolver
{
public:
/// Constructor
/// \param equation The ode equation to be solved
explicit OdeSolverEulerImplicit(OdeEquation* equation);
/// \param maximumIteration The Newton-Raphson algorithm maximum number of iterations
virtual void setNewtonRaphsonMaximumIteration(size_t maximumIteration);
/// \return The Newton-Raphson algorithm maximum number of iterations
size_t getNewtonRaphsonMaximumIteration() const;
/// \param epsilonConvergence The Newton-Raphson algorithm epsilon convergence
void setNewtonRaphsonEpsilonConvergence(double epsilonConvergence);
/// \return The Newton-Raphson algorithm epsilon convergence
double getNewtonRaphsonEpsilonConvergence() const;
void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override;
protected:
void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState,
bool computeRHS = true) override;
/// Newton-Raphson maximum number of iteration (1 => linearization)
size_t m_maximumIteration;
/// Newton-Raphson convergence criteria (variation of the solution over time)
double m_epsilonConvergence;
/// Newton-Raphson previous solution (we solve a problem to find deltaV, the variation in velocity)
Vector m_previousSolution;
};
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H
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