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URL: https://simtk.org/home/cpodes
Proper Citation: CPODES numerical integrator (RRID:SCR_000766)
Description: CPODES is a numerical integrator for solving multibody dynamics problems using coordinate projection. It is based on the CVODES integrator which is part of the DOE Sundials suite. It is a multistep integrator providing variable order Adams (up to 12th order) and BDF (up to 5th order) methods for non-stiff problems and BDF (up to 5th order) for stiff problems. It uses CVODES to advance the ODE, and then performs coordinate projection back to the constraint manifold to exactly solve the DAE. The projection is also incorporated back into the error test where it permits larger steps. Binaries of this software are bundled with other SimTK Core modules.
Abbreviations: CPODES
Resource Type: software resource, source code
Keywords: dynamic, numerical integrator, multibody, source code
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