RK4Integrator.hpp

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#ifndef DART_INTEGRATION_RK4INTEGRATOR_HPP_
#define DART_INTEGRATION_RK4INTEGRATOR_HPP_
 
#include "dart/integration/Integrator.hpp"
 
namespace dart {
namespace integration {
 
class RK4Integrator : public Integrator
{
public:
  RK4Integrator();
 
  virtual ~RK4Integrator();
 
  // Documentation inherited
  void integrate(IntegrableSystem* _system, double _dt) override;
 
private:
  Eigen::VectorXd q1;
 
  Eigen::VectorXd dq1, dq2, dq3, dq4;
 
  Eigen::VectorXd ddq1, ddq2, ddq3, ddq4;
};
 
} // namespace integration
} // namespace dart
 
#endif // DART_INTEGRATION_RK4INTEGRATOR_HPP_