def test_serialization4(): from Siconos.Kernel import LagrangianLinearTIDS, NewtonImpactNSL, \ LagrangianLinearTIR, Interaction, Model, MoreauJeanOSI, TimeDiscretisation, LCP, TimeStepping from numpy import array, eye, empty t0 = 0 # start time T = 10 # end time h = 0.005 # time step r = 0.1 # ball radius g = 9.81 # gravity m = 1 # ball mass e = 0.9 # restitution coeficient theta = 0.5 # theta scheme # # dynamical system # x = array([1, 0, 0]) # initial position v = array([0, 0, 0]) # initial velocity mass = eye(3) # mass matrix mass[2, 2] = 3./5 * r * r # the dynamical system ball = LagrangianLinearTIDS(x, v, mass) # set external forces weight = array([-m * g, 0, 0]) ball.setFExtPtr(weight) # # Interactions # # ball-floor H = array([[1, 0, 0]]) nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(1, nslaw, relation) # # Model # first_bouncingBall = Model(t0, T) # add the dynamical system to the non smooth dynamical system first_bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball) # link the interaction and the dynamical system first_bouncingBall.nonSmoothDynamicalSystem().link(inter, ball) # # Simulation # # (1) OneStepIntegrators OSI = MoreauJeanOSI(theta) OSI.insertDynamicalSystem(ball) # (2) Time discretisation -- t = TimeDiscretisation(t0, h) # (3) one step non smooth problem osnspb = LCP() # (4) Simulation setup with (1) (2) (3) s = TimeStepping(t) s.insertIntegrator(OSI) s.insertNonSmoothProblem(osnspb) # end of model definition # # computation # # simulation initialization first_bouncingBall.initialize(s) # # save and load data from xml and .dat # from Siconos.IO import save, load save(first_bouncingBall, "bouncingBall.xml") bouncingBall = load("bouncingBall.xml") # the number of time steps N = (T-t0)/h+1 # Get the values to be plotted # ->saved in a matrix dataPlot dataPlot = empty((N, 5)) # # numpy pointers on dense Siconos vectors # q = ball.q() v = ball.velocity() p = ball.p(1) lambda_ = inter.lambda_(1) # # initial data # dataPlot[0, 0] = t0 dataPlot[0, 1] = q[0] dataPlot[0, 2] = v[0] dataPlot[0, 3] = p[0] dataPlot[0, 4] = lambda_[0] k = 1 # time loop while(s.hasNextEvent()): s.computeOneStep() dataPlot[k, 0] = s.nextTime() dataPlot[k, 1] = q[0] dataPlot[k, 2] = v[0] dataPlot[k, 3] = p[0] dataPlot[k, 4] = lambda_[0] k += 1 print(s.nextTime()) s.nextStep() # # comparison with the reference file # from Siconos.Kernel import SimpleMatrix, getMatrix from numpy.linalg import norm ref = getMatrix(SimpleMatrix("result.ref")) assert (norm(dataPlot - ref) < 1e-12)
theta = 0.5 # theta scheme # # dynamical system # x = [1, 0, 0] # initial position v = [0, 0, 0] # initial velocity mass = eye(3) # mass matrix mass[2, 2] = 2.0 / 5 * r * r # the dynamical system ball = LagrangianLinearTIDS(x, v, mass) # set external forces weight = [-m * g, 0, 0] ball.setFExtPtr(weight) # # Interactions # # ball-floor H = [[1, 0, 0]] nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(nslaw, relation) # # Model #