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Commit f63e41db authored by Nicolas Docquier's avatar Nicolas Docquier
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Merge branch 'fix_MR350_integrators' into 'master' 

[Fix] finish integrator called twice #263

See merge request robotran/mbsysc!416
parents 0d67d2e3 e0c5b893
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MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_bader.c
View file @ f63e41db
......@@ -156,29 +156,48 @@ int loop_bader(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
}
void finish_bader(MbsData *mbs_data, MbsDirdyn *dd) {
if (dd->nState != 0)
{
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->yseq);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->ysav);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->yerr);
free_dvec_1(((MbsDirdynBader *)dd->integrator_struct)->x);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->err);
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->dfdy);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->dfdx);
free_dmat_1(((MbsDirdynBader *)dd->integrator_struct)->d);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dydx);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdx);
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdy);
free_ivec_0(((MbsDirdynBader *)dd->integrator_struct)->indx);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->ytemp);
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->a);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->del);
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->c);
free_dvec_1(((MbsDirdynBader *)dd->integrator_struct)->fx);
if (!dd) { // Check dd has not been set to NULL
if (dd->nState != 0 && dd->integrator_struct) // Check integrator structure has not been set to NULL
{
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->yseq);
((MbsDirdynBader *)dd->integrator_struct)->yseq = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->ysav);
((MbsDirdynBader *)dd->integrator_struct)->ysav = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->yerr);
((MbsDirdynBader *)dd->integrator_struct)->yerr = NULL;
free_dvec_1(((MbsDirdynBader *)dd->integrator_struct)->x);
((MbsDirdynBader *)dd->integrator_struct)->x = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->err);
((MbsDirdynBader *)dd->integrator_struct)->err = NULL;
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->dfdy);
((MbsDirdynBader *)dd->integrator_struct)->dfdy = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->dfdx);
((MbsDirdynBader *)dd->integrator_struct)->dfdx = NULL;
free_dmat_1(((MbsDirdynBader *)dd->integrator_struct)->d);
((MbsDirdynBader *)dd->integrator_struct)->d = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dydx);
((MbsDirdynBader *)dd->integrator_struct)->Freeze_dydx = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdx);
((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdx = NULL;
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdy);
((MbsDirdynBader *)dd->integrator_struct)->Freeze_dfdy = NULL;
free_ivec_0(((MbsDirdynBader *)dd->integrator_struct)->indx);
((MbsDirdynBader *)dd->integrator_struct)->indx = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->ytemp);
((MbsDirdynBader *)dd->integrator_struct)->ytemp = NULL;
free_dmat_0(((MbsDirdynBader *)dd->integrator_struct)->a);
((MbsDirdynBader *)dd->integrator_struct)->a = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->del);
((MbsDirdynBader *)dd->integrator_struct)->del = NULL;
free_dvec_0(((MbsDirdynBader *)dd->integrator_struct)->c);
((MbsDirdynBader *)dd->integrator_struct)->c = NULL;
free_dvec_1(((MbsDirdynBader *)dd->integrator_struct)->fx);
((MbsDirdynBader *)dd->integrator_struct)->fx = NULL;
}
}
}
......@@ -186,5 +205,5 @@ void error_bader(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg(">>DIRDYN>>\n");
mbs_msg(">>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg(">>DIRDYN>> During Bader integrator [%d] \n", err);
finish_bader(mbs_data, dd);
finish_bader(mbs_data, dd); // already called in mbs_dirdyn_finish
}
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_custom.c
View file @ f63e41db
......@@ -113,9 +113,12 @@ int loop_custom(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
// Free the elements in the structure of custom integrator
// (See the allocations in initialize_custom() )
void finish_custom(MbsData *mbs_data, MbsDirdyn *mbs_dd) {
if (mbs_dd->nState != 0)
{
free(((MbsDirdynCustom *)mbs_dd->integrator_struct)->yt2);
if (!mbs_dd) { // Check dd has not been set to NULL
if (mbs_dd->nState != 0 && mbs_dd->integrator_struct) // Check integrator structure has not been set to NULL
{
free(((MbsDirdynCustom *)mbs_dd->integrator_struct)->yt2);
((MbsDirdynCustom *)mbs_dd->integrator_struct)->yt2 = NULL;
}
}
}
......@@ -123,5 +126,5 @@ void error_custom(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg("\t >>Custom>>\n");
mbs_msg("\t >>Custom>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>Custom>> During Custom integrator [%d] \n", err);
finish_custom(mbs_data, dd);
finish_custom(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_dopri5.c
View file @ f63e41db
......@@ -64,17 +64,23 @@ int loop_dopri5(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
void finish_dopri5(MbsData *mbs_data, MbsDirdyn *mbs_dd) {
int i = 0;
if (mbs_dd->nState != 0)
{
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->dydt_save);
for (i = 0; i < DOPRI5_NB_ALLOC_VEC; i++)
if (!mbs_dd) { // Check dd has not been set to NULL
if (mbs_dd->nState != 0 && mbs_dd->integrator_struct) // Check integrator structure has not been set to NULL
{
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab[i]);
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->dydt_save);
((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->dydt_save = NULL;
for (i = 0; i < DOPRI5_NB_ALLOC_VEC; i++)
{
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab[i]);
((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab[i] = NULL;
}
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab);
((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab = NULL;
}
free(((MbsDirdynDopri5 *)mbs_dd->integrator_struct)->alloc_tab);
}
}
int fcn_dopri5(unsigned int n, long nr, double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *mbs_dd)
......@@ -153,5 +159,5 @@ void error_dopri5(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg("\t >>DIRDYN>>\n");
mbs_msg("\t >>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>DIRDYN>> During Dopri 5 integrator [%d] \n", err);
finish_dopri5(mbs_data, dd);
finish_dopri5(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_euler_explicit.c
View file @ f63e41db
......@@ -115,11 +115,18 @@ int loop_eulerEx(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
void finish_eulerEx(MbsData *mbs_data, MbsDirdyn *dd) {
if (dd->options->integrator == AlphaM)
{
// free the vectors
free_dvec_0(((MbsDirdynEulerEx *)dd->integrator_struct)->a_n_1);
free_dvec_0(((MbsDirdynEulerEx *)dd->integrator_struct)->a_n);
if (!dd) { // Check dd has not been set to NULL
if (dd->integrator_struct) // Check integrator structure has not been set to NULL
{
if (dd->options->integrator == AlphaM)
{
// free the vectors
free_dvec_0(((MbsDirdynEulerEx *)dd->integrator_struct)->a_n_1);
((MbsDirdynEulerEx *)dd->integrator_struct)->a_n_1 = NULL;
free_dvec_0(((MbsDirdynEulerEx *)dd->integrator_struct)->a_n);
((MbsDirdynEulerEx *)dd->integrator_struct)->a_n = NULL;
}
}
}
}
......@@ -128,7 +135,7 @@ void error_eulerEx(MbsData *mbs_data, MbsDirdyn *dd, int err)
mbs_msg("\t >>Euler explicit>>\n");
mbs_msg("\t >>Euler explicit>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>Euler explicit>> During time integration [%d] \n", err);
finish_eulerEx(mbs_data, dd);
finish_eulerEx(mbs_data, dd); // already called in mbs_dirdyn_finish
}
......
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_euler_implicit.c
View file @ f63e41db
......@@ -126,24 +126,39 @@ int loop_euler_implicit(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_
}
void finish_euler_implicit(MbsData *mbs_data, MbsDirdyn *dd) {
if (dd->nState != 0)
{
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dfdx);
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dfdy);
free_ivec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->indx);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->ysav);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dysav);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->delta_p);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->delta_v);
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->A);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->B);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->jpxv);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dydx);
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdx);
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdy);
if (!dd) { // Check dd has not been set to NULL
if (dd->nState != 0 && dd->integrator_struct) // Check integrator structure has not been set to NULL
{
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dfdx);
((MbsDirdynEulerIm *)dd->integrator_struct)->dfdx = NULL;
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dfdy);
((MbsDirdynEulerIm *)dd->integrator_struct)->dfdy = NULL;
free_ivec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->indx);
((MbsDirdynEulerIm *)dd->integrator_struct)->indx = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->ysav);
((MbsDirdynEulerIm *)dd->integrator_struct)->ysav = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->dysav);
((MbsDirdynEulerIm *)dd->integrator_struct)->dysav = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->delta_p);
((MbsDirdynEulerIm *)dd->integrator_struct)->delta_p = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->delta_v);
((MbsDirdynEulerIm *)dd->integrator_struct)->delta_v = NULL;
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->A);
((MbsDirdynEulerIm *)dd->integrator_struct)->A = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->B);
((MbsDirdynEulerIm *)dd->integrator_struct)->B = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->jpxv);
((MbsDirdynEulerIm *)dd->integrator_struct)->jpxv = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dydx);
((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dydx = NULL;
free_dvec_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdx);
((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdx = NULL;
free_dmat_0(((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdy);
((MbsDirdynEulerIm *)dd->integrator_struct)->Freeze_dfdy = NULL;
}
}
}
......@@ -151,5 +166,5 @@ void error_euler_implicit(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg(">>DIRDYN>>\n");
mbs_msg(">>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg(">>DIRDYN>> During Euler Implicit integrator [%d] \n", err);
finish_euler_implicit(mbs_data, dd);
finish_euler_implicit(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rk4.c
View file @ f63e41db
......@@ -122,5 +122,5 @@ void error_rk4(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg("\t >>RK4>>\n");
mbs_msg("\t >>RK4>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>RK4>> During RK4 integrator [%d] \n", err);
finish_rk4(mbs_data, dd);
finish_rk4(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rosenbrock.c
View file @ f63e41db
......@@ -141,26 +141,42 @@ int loop_rosenbrock(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
}
void finish_rosenbrock(MbsData *mbs_data, MbsDirdyn *dd) {
if (dd->nState != 0)
{
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dydt_save);
free_ivec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->indx);
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->a);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdx);
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdy);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dysav);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->err);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g1);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g2);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g3);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g4);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->ysav);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dydx);
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdx);
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdy);
if (dd) { // New check dd has not been set to NULL
if (dd->nState != 0 && dd->integrator_struct) // New check integrator structure has not been set to NULL
{
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dydt_save);
((MbsDirdynRosenbrock *)dd->integrator_struct)->dydt_save = NULL;
free_ivec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->indx);
((MbsDirdynRosenbrock *)dd->integrator_struct)->indx = NULL;
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->a);
((MbsDirdynRosenbrock *)dd->integrator_struct)->a = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdx);
((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdx = NULL;
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdy);
((MbsDirdynRosenbrock *)dd->integrator_struct)->dfdy = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->dysav);
((MbsDirdynRosenbrock *)dd->integrator_struct)->dysav = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->err);
((MbsDirdynRosenbrock *)dd->integrator_struct)->err = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g1);
((MbsDirdynRosenbrock *)dd->integrator_struct)->g1 = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g2);
((MbsDirdynRosenbrock *)dd->integrator_struct)->g2 = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g3);
((MbsDirdynRosenbrock *)dd->integrator_struct)->g3 = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->g4);
((MbsDirdynRosenbrock *)dd->integrator_struct)->g4 = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->ysav);
((MbsDirdynRosenbrock *)dd->integrator_struct)->ysav = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dydx);
((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dydx = NULL;
free_dvec_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdx);
((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdx = NULL;
free_dmat_0(((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdy);
((MbsDirdynRosenbrock *)dd->integrator_struct)->Freeze_dfdy = NULL;
}
}
}
......@@ -169,5 +185,5 @@ void error_rosenbrock(MbsData *mbs_data, MbsDirdyn *dd, int err)
mbs_msg("\t >>Rosenbrock>>\n");
mbs_msg("\t >>Rosenbrock>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>Rosenbrock>> During Rosenbrock integrator [%d] \n", err);
finish_rosenbrock(mbs_data, dd);
finish_rosenbrock(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_w_methods.c
View file @ f63e41db
......@@ -146,33 +146,56 @@ int loop_w_methods(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
void finish_w_methods(MbsData *mbs_data, MbsDirdyn *dd) {
if (dd->nState != 0)
{
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->dfdx);
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->dfdy);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->f);
free_ivec_0(((MbsDirdynWMethods *)dd->integrator_struct)->indx);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->dysav);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->ysav);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dydx);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdx);
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdy);
// Free the memory
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->delta_p);
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->delta_v);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->A_param);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->B_param);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->C_param);
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->GAM_param);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->sum_alpha_gamma);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->partial_right_hand_term);
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->A);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->B);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->jpxv);
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->intermediate_y);
if (!dd) { // Check dd has not been set to NULL
if (dd->nState != 0 && dd->integrator_struct) // Check integrator structure has not been set to NULL
{
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->dfdx);
((MbsDirdynWMethods *)dd->integrator_struct)->dfdx = NULL;
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->dfdy);
((MbsDirdynWMethods *)dd->integrator_struct)->dfdy = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->f);
((MbsDirdynWMethods *)dd->integrator_struct)->f = NULL;
free_ivec_0(((MbsDirdynWMethods *)dd->integrator_struct)->indx);
((MbsDirdynWMethods *)dd->integrator_struct)->indx = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->dysav);
((MbsDirdynWMethods *)dd->integrator_struct)->dysav = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->ysav);
((MbsDirdynWMethods *)dd->integrator_struct)->ysav = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dydx);
((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dydx = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdx);
((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdx = NULL;
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdy);
((MbsDirdynWMethods *)dd->integrator_struct)->Freeze_dfdy = NULL;
// Free the memory
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->delta_p);
((MbsDirdynWMethods *)dd->integrator_struct)->delta_p = NULL;
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->delta_v);
((MbsDirdynWMethods *)dd->integrator_struct)->delta_v = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->A_param);
((MbsDirdynWMethods *)dd->integrator_struct)->A_param = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->B_param);
((MbsDirdynWMethods *)dd->integrator_struct)->B_param = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->C_param);
((MbsDirdynWMethods *)dd->integrator_struct)->C_param = NULL;
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->GAM_param);
((MbsDirdynWMethods *)dd->integrator_struct)->GAM_param = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->sum_alpha_gamma);
((MbsDirdynWMethods *)dd->integrator_struct)->sum_alpha_gamma = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->partial_right_hand_term);
((MbsDirdynWMethods *)dd->integrator_struct)->partial_right_hand_term = NULL;
free_dmat_0(((MbsDirdynWMethods *)dd->integrator_struct)->A);
((MbsDirdynWMethods *)dd->integrator_struct)->A = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->B);
((MbsDirdynWMethods *)dd->integrator_struct)->B = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->jpxv);
((MbsDirdynWMethods *)dd->integrator_struct)->jpxv = NULL;
free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->intermediate_y);
((MbsDirdynWMethods *)dd->integrator_struct)->intermediate_y = NULL;
}
}
}
......@@ -180,5 +203,5 @@ void error_w_methods(MbsData *mbs_data, MbsDirdyn *dd, int err) {
mbs_msg("\t >>DIRDYN>>\n");
mbs_msg("\t >>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
mbs_msg("\t >>DIRDYN>> During W Methods integrator [%d] \n", err);
finish_w_methods(mbs_data, dd);
finish_w_methods(mbs_data, dd); // already called in mbs_dirdyn_finish
}
\ No newline at end of file
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