jointreg.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/jointreg.h,v 1.12 2017/01/12 14:46:43 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 *
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/* Joint regularizations, Elem::Type JOINT_REGULARIZATION */

#ifndef JOINTREG_H
#define JOINTREG_H

#include <cfloat>

#include "joint.h"

/* JointRegularization - begin */

class JointRegularization
: virtual public Elem, public InitialAssemblyElem
{
protected:
        const Joint *pJ;

public:
        /* JointRegularization types */
        enum Type {
                UNKNOWN = -1,

                TIKHONOV_REGULARIZATION = 0,
                DYNAMIC_REGULARIZATION,
                JACOBIAN_REGULARIZATION,

                LASTJOINTREGTYPE
        };

public:
        JointRegularization(unsigned int uL, const Joint *j, flag fOut);
        virtual ~JointRegularization(void);

        /* Tipo dell'elemento (usato solo per debug ecc.) */
        virtual Elem::Type GetElemType(void) const {
                return Elem::JOINT_REGULARIZATION;
        };

        /* Tipo di joint regularization */
        virtual JointRegularization::Type
        GetJointRegularizationType(void) const = 0;

        /* Contributo al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const {
                return out << "  joint regularization: " << GetLabel();
        };

        virtual unsigned int iGetInitialNumDof(void) const;
};

/* JointRegularization - end */


/* TikhonovRegularization - begin */

class TikhonovRegularization
: virtual public Elem, public JointRegularization
{
protected:
        std::vector<doublereal> dC;

public:
        TikhonovRegularization(unsigned int uL,
                const Joint *j,
                const std::vector<doublereal>& c,
                flag fOut);
        virtual ~TikhonovRegularization(void);

        virtual JointRegularization::Type
        GetJointRegularizationType(void) const;

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        /* assemblaggio residuo */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        /* assemblaggio jacobiano */
        virtual VariableSubMatrixHandler& 
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef, 
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;

        /* Inverse Dynamics Jacobian matrix assembly */
        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);

        virtual void
        InitialWorkSpaceDim(integer* piNumRows,
                integer* piNumCols) const;
        virtual VariableSubMatrixHandler& 
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr);
};

/* TikhonovRegularization - end */


/* DynamicRegularization - begin */

class DynamicRegularization
: virtual public Elem, public JointRegularization
{
protected:
        std::vector<doublereal> dC;
        std::vector<doublereal> dLambda;

public:
        DynamicRegularization(unsigned int uL,
                const Joint *j,
                const std::vector<doublereal>& c,
                flag fOut);
        virtual ~DynamicRegularization(void);

        virtual JointRegularization::Type
        GetJointRegularizationType(void) const;

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        virtual void
        AfterConvergence(const VectorHandler& X, 
                        const VectorHandler& XP);

        /* assemblaggio residuo */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        /* assemblaggio jacobiano */
        virtual VariableSubMatrixHandler& 
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef, 
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        virtual void
        InitialWorkSpaceDim(integer* piNumRows,
                integer* piNumCols) const;
        virtual VariableSubMatrixHandler& 
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr);
};

/* DynamicRegularization - end */

/* JacobianRegularization - begin */

class JacobianRegularization
: virtual public Elem, public JointRegularization
{
protected:
        std::vector<doublereal> dC;

public:
        JacobianRegularization(unsigned int uL,
                const Joint *j,
                const std::vector<doublereal>& c,
                flag fOut);
        virtual ~JacobianRegularization(void);

        virtual JointRegularization::Type
        GetJointRegularizationType(void) const;

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        /* assemblaggio residuo */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        /* assemblaggio jacobiano */
        virtual VariableSubMatrixHandler& 
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef, 
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        virtual void
        InitialWorkSpaceDim(integer* piNumRows,
                integer* piNumCols) const;
        virtual VariableSubMatrixHandler& 
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr);
};

/* JacobianRegularization - end */

/* Lettura joint regularizations */
class DataManager;
class MBDynParser;

extern Elem *
ReadJointRegularization(DataManager* pDM,
        MBDynParser& HP,
        unsigned int uLabel);

#endif // JOINTREG_H