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Code Listing by Giulia Ortolan

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These function implement Lie integrators to perform long time simulation of a rigid body in a static spring-magnetic potential field. This numerical test of symplecticity is detailed in:

Bou-Rabee, N., Ortolan, G., and Saccon, A. [2010].
A counterexample showing the semi-explicit Lie-Newmark algorithm is not variational. (preprint).

Results show the following:
(i) VLV algorithm exhibits no energy drift;