def compute_dt_matrices(A, B, h, TV=False):
# variable declaration
t0 = 0.0 # start time
T = 1 # end time
n, m = B.shape
# Matrix declaration
x0 = np.random.random(n)
Csurface = np.random.random((m, n))
# Declaration of the Dynamical System
if TV:
processDS = SK.FirstOrderLinearDS(x0, A)
else:
processDS = SK.FirstOrderLinearTIDS(x0, A)
# Model
process = SK.Model(t0, T)
process.nonSmoothDynamicalSystem().insertDynamicalSystem(processDS)
# time discretisation
processTD = SK.TimeDiscretisation(t0, h)
# Creation of the Simulation
processSimulation = SK.TimeStepping(processTD, 0)
processSimulation.setName("plant simulation")
# Declaration of the integrator
processIntegrator = SK.ZeroOrderHoldOSI(processDS)
processSimulation.insertIntegrator(processIntegrator)
rel = SK.FirstOrderLinearTIR(Csurface, B)
nslaw = SK.RelayNSL(m)
inter = SK.Interaction(m, nslaw, rel)
# process.nonSmoothDynamicalSystem().insertInteraction(inter, True)
process.nonSmoothDynamicalSystem().link(inter, processDS)
process.nonSmoothDynamicalSystem().setControlProperty(inter, True)
# Initialization
process.initialize(processSimulation)
# Main loop
processSimulation.computeOneStep()
Ad = SK.getMatrix(processIntegrator.Ad(processDS)).copy()
Bd = SK.getMatrix(processIntegrator.Bd(processDS)).copy()
return (Ad, Bd)
def test_xml1():
''' the BouncingBall '''
bouncingBall = buildModelXML('./data/BBallTS.xml')
# --- Get the simulation ---
s = bouncingBall.simulation()
dsN = SK.dynamicalSystems(bouncingBall.nonSmoothDynamicalSystem().topology().dSG(0))[0].number()
ball = bouncingBall.nonSmoothDynamicalSystem().dynamicalSystem(dsN)
N = 2000 # Number of time steps
# saved in a matrix dataPlot
outputSize = 4
dataPlot = np.zeros((N + 1, outputSize))
q = ball.q()
v = ball.velocity()
p = ball.p(1)
dataPlot[0, 0] = bouncingBall.t0()
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
print("====> Start computation ...")
# --- Time loop ---
k = 1
while s.hasNextEvent():
s.computeOneStep()
# --- Get values to be plotted ---
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
s.nextStep()
k += 1
print("End of computation - Number of iterations done: {:}".format(k))
print("====> Output file writing ...")
dataPlot.resize(k, outputSize)
np.savetxt("BBallTS.dat", dataPlot)
# Comparison with a reference file
dataPlotRef = SK.getMatrix(SK.SimpleMatrix('./data/BBallTSXML.ref'))
if np.linalg.norm(dataPlot - dataPlotRef, ord=np.inf) > 1e-12:
print(dataPlot - dataPlotRef)
print("ERROR: The result is rather different from the reference file.")
def test_xml5():
''' Bouncing Ball ED '''
# --- buildModelXML loading from xml file ---
bouncingBall = buildModelXML("./data/BBallED.xml")
# --- Get and initialize the simulation ---
s = bouncingBall.simulation()
dsN = SK.dynamicalSystems(bouncingBall.nonSmoothDynamicalSystem().topology().dSG(0))[0].number()
ball = bouncingBall.nonSmoothDynamicalSystem().dynamicalSystem(dsN)
# --- Get the values to be plotted ---
# . saved in a matrix dataPlot
N = 12368 # Number of saved points: depends on the number of events ...
outputSize = 5
dataPlot = np.zeros((N + 1, outputSize))
q = ball.q()
v = ball.velocity()
p = ball.p(1)
f = ball.p(2)
dataPlot[0, 0] = bouncingBall.t0()
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
dataPlot[0, 4] = f[0]
print("====> Start computation ... ")
# --- Time loop ---
eventsManager = s.eventsManager()
numberOfEvent = 0
k = 0
nonSmooth = False
while s.hasNextEvent():
k += 1
s.advanceToEvent()
if eventsManager.nextEvent().getType() == 2:
nonSmooth = True
s.processEvents()
# If the treated event is non smooth, the pre-impact state has been solved in memory vectors during process.
if nonSmooth:
dataPlot[k, 0] = s.startingTime()
dataPlot[k, 1] = ball.qMemory().getSiconosVector(1)[0]
dataPlot[k, 2] = ball.velocityMemory().getSiconosVector(1)[0]
k += 1
nonSmooth = False
dataPlot[k, 0] = s.startingTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = f[0]
numberOfEvent += 1
# --- Output files ---
dataPlot.resize(k, outputSize)
np.savetxt("BBallED.dat", dataPlot)
# Comparison with a reference file
dataPlotRef = SK.getMatrix(SK.SimpleMatrix("./data/BouncingBallEDXml.ref"))
if np.linalg.norm(dataPlot - dataPlotRef, ord=np.inf) > 1e-11:
print("Warning. The results is rather different from the reference file.")
print(np.linalg.norm(dataPlot - dataPlotRef, ord=np.inf))
exit(1)
