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/* ode-initval/rk4imp.c
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*
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* Copyright (C) 1996, 1997, 1998, 1999, 2000 Gerard Jungman
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or (at
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* your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*/
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/* Runge-Kutta 4, Gaussian implicit */
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/* Author: G. Jungman
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*/
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/* Error estimation by step doubling, see eg. Ascher, U.M., Petzold,
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L.R., Computer methods for ordinary differential and
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differential-algebraic equations, SIAM, Philadelphia, 1998.
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Method coefficients can also be found in it.
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*/
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#include <config.h>
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#include <stdlib.h>
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#include <string.h>
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#include <gsl/gsl_math.h>
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#include <gsl/gsl_errno.h>
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#include <gsl/gsl_odeiv.h>
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#include "odeiv_util.h"
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typedef struct
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{
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double *k1nu;
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double *k2nu;
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double *ytmp1;
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double *ytmp2;
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double *y0;
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double *y0_orig;
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double *y_onestep;
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}
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rk4imp_state_t;
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static void *
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rk4imp_alloc (size_t dim)
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{
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rk4imp_state_t *state = (rk4imp_state_t *) malloc (sizeof (rk4imp_state_t));
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if (state == 0)
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{
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GSL_ERROR_NULL ("failed to allocate space for rk4imp_state",
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GSL_ENOMEM);
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}
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state->k1nu = (double *) malloc (dim * sizeof (double));
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if (state->k1nu == 0)
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{
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for k1nu", GSL_ENOMEM);
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}
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state->k2nu = (double *) malloc (dim * sizeof (double));
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if (state->k2nu == 0)
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{
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for k2nu", GSL_ENOMEM);
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}
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state->ytmp1 = (double *) malloc (dim * sizeof (double));
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if (state->ytmp1 == 0)
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{
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free (state->k2nu);
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for ytmp1", GSL_ENOMEM);
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}
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state->ytmp2 = (double *) malloc (dim * sizeof (double));
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if (state->ytmp2 == 0)
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{
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free (state->ytmp1);
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free (state->k2nu);
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for ytmp2", GSL_ENOMEM);
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}
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state->y0 = (double *) malloc (dim * sizeof (double));
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if (state->y0 == 0)
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{
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free (state->ytmp2);
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free (state->ytmp1);
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free (state->k2nu);
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for y0", GSL_ENOMEM);
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}
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state->y0_orig = (double *) malloc (dim * sizeof (double));
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if (state->y0_orig == 0)
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{
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free (state->y0);
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free (state->ytmp2);
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free (state->ytmp1);
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free (state->k2nu);
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for y0_orig", GSL_ENOMEM);
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}
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state->y_onestep = (double *) malloc (dim * sizeof (double));
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if (state->y_onestep == 0)
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{
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free (state->y0_orig);
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free (state->y0);
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free (state->ytmp2);
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free (state->ytmp1);
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free (state->k2nu);
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free (state->k1nu);
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free (state);
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GSL_ERROR_NULL ("failed to allocate space for y_onestep", GSL_ENOMEM);
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}
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return state;
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}
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static int
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rk4imp_step (double *y, rk4imp_state_t *state,
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const double h, const double t,
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const size_t dim, const gsl_odeiv_system *sys)
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{
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/* Makes a Runge-Kutta 4th order implicit advance with step size h.
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y0 is initial values of variables y.
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The implicit matrix equations to solve are:
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Y1 = y0 + h * a11 * f(t + h * c1, Y1) + h * a12 * f(t + h * c2, Y2)
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Y2 = y0 + h * a21 * f(t + h * c1, Y1) + h * a22 * f(t + h * c2, Y2)
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y = y0 + h * b1 * f(t + h * c1, Y1) + h * b2 * f(t + h * c2, Y2)
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with constant coefficients a, b and c. For this method
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they are: b=[0.5 0.5] c=[(3-sqrt(3))/6 (3+sqrt(3))/6]
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a11=1/4, a12=(3-2*sqrt(3))/12, a21=(3+2*sqrt(3))/12 and a22=1/4
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*/
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const double ir3 = 1.0 / M_SQRT3;
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const int iter_steps = 3;
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int nu;
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size_t i;
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double *const k1nu = state->k1nu;
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double *const k2nu = state->k2nu;
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double *const ytmp1 = state->ytmp1;
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double *const ytmp2 = state->ytmp2;
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/* iterative solution of Y1 and Y2.
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Note: This method does not check for convergence of the
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iterative solution!
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*/
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for (nu = 0; nu < iter_steps; nu++)
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{
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for (i = 0; i < dim; i++)
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{
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ytmp1[i] =
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y[i] + h * (0.25 * k1nu[i] + 0.5 * (0.5 - ir3) * k2nu[i]);
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ytmp2[i] =
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y[i] + h * (0.25 * k2nu[i] + 0.5 * (0.5 + ir3) * k1nu[i]);
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}
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{
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int s =
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GSL_ODEIV_FN_EVAL (sys, t + 0.5 * h * (1.0 - ir3), ytmp1, k1nu);
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if (s != GSL_SUCCESS)
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{
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return s;
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}
|
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}
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{
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int s =
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GSL_ODEIV_FN_EVAL (sys, t + 0.5 * h * (1.0 + ir3), ytmp2, k2nu);
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if (s != GSL_SUCCESS)
|
|
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{
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return s;
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}
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}
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}
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|
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/* assignment */
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for (i = 0; i < dim; i++)
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{
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const double d_i = 0.5 * (k1nu[i] + k2nu[i]);
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|
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y[i] += h * d_i;
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|
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}
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|
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return GSL_SUCCESS;
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|
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}
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|
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static int
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rk4imp_apply (void *vstate,
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size_t dim,
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double t,
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double h,
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double y[],
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double yerr[],
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const double dydt_in[],
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double dydt_out[],
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const gsl_odeiv_system * sys)
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|
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{
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|
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rk4imp_state_t *state = (rk4imp_state_t *) vstate;
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size_t i;
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double *y0 = state->y0;
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double *y0_orig = state->y0_orig;
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double *y_onestep = state->y_onestep;
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double *k1nu = state->k1nu;
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double *k2nu = state->k2nu;
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|
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/* Initialization step */
|
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DBL_MEMCPY (y0, y, dim);
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|
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/* Save initial values in case of failure */
|
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DBL_MEMCPY (y0_orig, y, dim);
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|
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if (dydt_in != 0)
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{
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|
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DBL_MEMCPY (k1nu, dydt_in, dim);
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}
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else
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|
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{
|
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int s = GSL_ODEIV_FN_EVAL (sys, t, y, k1nu);
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|
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if (s != GSL_SUCCESS)
|
|
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{
|
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return s;
|
|
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}
|
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}
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|
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DBL_MEMCPY (k2nu, k1nu, dim);
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|
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/* First traverse h with one step (save to y_onestep) */
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|
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DBL_MEMCPY (y_onestep, y, dim);
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|
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{
|
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int s = rk4imp_step (y_onestep, state, h, t, dim, sys);
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if (s != GSL_SUCCESS)
|
|
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{
|
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return s;
|
|
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}
|
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}
|
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|
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/* Then with two steps with half step length (save to y) */
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|
|
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{
|
|
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int s = rk4imp_step (y, state, h/2.0, t, dim, sys);
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|
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if (s != GSL_SUCCESS)
|
|
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{
|
|
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/* Restore original y vector */
|
|
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DBL_MEMCPY (y, y0_orig, dim);
|
|
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return s;
|
|
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}
|
|
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}
|
|
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|
|
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DBL_MEMCPY (y0, y, dim);
|
|
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|
|
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{
|
|
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int s = GSL_ODEIV_FN_EVAL (sys, t + h/2.0, y, k1nu);
|
|
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|
|
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if (s != GSL_SUCCESS)
|
|
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{
|
|
Packit |
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/* Restore original y vector */
|
|
Packit |
67cb25 |
DBL_MEMCPY (y, y0_orig, dim);
|
|
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return s;
|
|
Packit |
67cb25 |
}
|
|
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}
|
|
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|
|
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DBL_MEMCPY (k2nu, k1nu, dim);
|
|
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|
|
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{
|
|
Packit |
67cb25 |
int s = rk4imp_step (y, state, h/2.0, t + h/2.0, dim, sys);
|
|
Packit |
67cb25 |
|
|
Packit |
67cb25 |
if (s != GSL_SUCCESS)
|
|
Packit |
67cb25 |
{
|
|
Packit |
67cb25 |
/* Restore original y vector */
|
|
Packit |
67cb25 |
DBL_MEMCPY (y, y0_orig, dim);
|
|
Packit |
67cb25 |
return s;
|
|
Packit |
67cb25 |
}
|
|
Packit |
67cb25 |
}
|
|
Packit |
67cb25 |
|
|
Packit |
67cb25 |
/* Derivatives at output */
|
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if (dydt_out != NULL)
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{
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int s = GSL_ODEIV_FN_EVAL (sys, t + h, y, dydt_out);
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if (s != GSL_SUCCESS) {
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/* Restore original y vector */
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DBL_MEMCPY (y, y0_orig, dim);
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return s;
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}
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}
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/* Error estimation */
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/* Denominator in step doubling error equation
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* yerr = 0.5 * | y(onestep) - y(twosteps) | / (2^order - 1)
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*/
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for (i = 0; i < dim; i++)
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{
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yerr[i] = 8.0 * 0.5 * (y[i] - y_onestep[i]) / 15.0;
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}
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return GSL_SUCCESS;
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}
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static int
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rk4imp_reset (void *vstate, size_t dim)
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{
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rk4imp_state_t *state = (rk4imp_state_t *) vstate;
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|
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DBL_ZERO_MEMSET (state->y_onestep, dim);
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DBL_ZERO_MEMSET (state->y0_orig, dim);
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DBL_ZERO_MEMSET (state->y0, dim);
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DBL_ZERO_MEMSET (state->k1nu, dim);
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DBL_ZERO_MEMSET (state->k2nu, dim);
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DBL_ZERO_MEMSET (state->ytmp1, dim);
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DBL_ZERO_MEMSET (state->ytmp2, dim);
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return GSL_SUCCESS;
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}
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|
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static unsigned int
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rk4imp_order (void *vstate)
|
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{
|
|
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rk4imp_state_t *state = (rk4imp_state_t *) vstate;
|
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state = 0; /* prevent warnings about unused parameters */
|
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return 4;
|
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}
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|
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static void
|
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rk4imp_free (void *vstate)
|
|
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{
|
|
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rk4imp_state_t *state = (rk4imp_state_t *) vstate;
|
|
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|
|
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free (state->y_onestep);
|
|
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free (state->y0_orig);
|
|
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free (state->y0);
|
|
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free (state->k1nu);
|
|
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free (state->k2nu);
|
|
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free (state->ytmp1);
|
|
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free (state->ytmp2);
|
|
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free (state);
|
|
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}
|
|
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|
|
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static const gsl_odeiv_step_type rk4imp_type = { "rk4imp", /* name */
|
|
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1, /* can use dydt_in? */
|
|
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1, /* gives exact dydt_out? */
|
|
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&rk4imp_alloc,
|
|
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&rk4imp_apply,
|
|
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&rk4imp_reset,
|
|
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&rk4imp_order,
|
|
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&rk4imp_free
|
|
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};
|
|
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|
|
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const gsl_odeiv_step_type *gsl_odeiv_step_rk4imp = &rk4imp_type;
|