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/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKmath *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2006-12 Stanford University and the Authors. *
* Authors: Michael Sherman, Peter Eastman *
* Contributors: *
* *
* 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. *
* -------------------------------------------------------------------------- */
#include "IntegratorTestFramework.h"
#include "simmath/CPodesIntegrator.h"
int main () {
try {
#ifndef __i386__
PendulumSystem sys;
sys.addEventHandler(new ZeroVelocityHandler(sys));
sys.addEventHandler(PeriodicHandler::handler = new PeriodicHandler());
sys.addEventHandler(new ZeroPositionHandler(sys));
sys.addEventReporter(PeriodicReporter::reporter = new PeriodicReporter(sys));
sys.addEventReporter(new OnceOnlyEventReporter());
sys.addEventReporter(new DiscontinuousReporter());
sys.realizeTopology();
// Test with various intervals for the event handler and event reporter, ones that are either
// large or small compared to the expected internal step size of the integrator.
for (int i = 0; i < 4; ++i) {
PeriodicHandler::handler->setEventInterval(i == 0 || i == 1 ? 0.01 : 2.0);
PeriodicReporter::reporter->setEventInterval(i == 0 || i == 2 ? 0.015 : 1.5);
// Test the BDF integrator in both normal and single step modes.
CPodesIntegrator bdfInteg(sys, CPodes::BDF);
testIntegrator(bdfInteg, sys);
bdfInteg.setReturnEveryInternalStep(true);
testIntegrator(bdfInteg, sys);
// Test the Adams integrator in both normal and single step modes.
CPodesIntegrator adamsInteg(sys, CPodes::Adams);
testIntegrator(adamsInteg, sys);
adamsInteg.setReturnEveryInternalStep(true);
testIntegrator(adamsInteg, sys);
// Calling setUseCPodesProjection() after the integrator has been initialized should
// produce an exception.
try {
adamsInteg.setUseCPodesProjection();
assert(false);
}
catch (...) {
}
// Try having CPODES do the projection instead of the System.
CPodesIntegrator projInteg(sys, CPodes::BDF);
projInteg.setUseCPodesProjection();
testIntegrator(projInteg, sys);
}
cout << "Done" << endl;
#endif
return 0;
}
catch (std::exception& e) {
std::printf("FAILED: %s\n", e.what());
return 1;
}
}
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