DART  6.10.1
dart::integration::RK4Integrator Class Referenceabstract

class RK4Integrator More...

#include <RK4Integrator.hpp>

Inheritance diagram for dart::integration::RK4Integrator:
dart::integration::Integrator

Public Member Functions

 RK4Integrator ()
 Constructor. More...
 
virtual ~RK4Integrator ()
 Destructor. More...
 
void integrate (IntegrableSystem *_system, double _dt) override
 Integrate the system with time step dt. More...
 
virtual void integratePos (IntegrableSystem *_system, double _dt)=0
 Integrate velocity of the system with time step dt. More...
 
virtual void integrateVel (IntegrableSystem *_system, double _dt)=0
 Integrate velocity of the system with time step dt. More...
 

Private Attributes

Eigen::VectorXd q1
 Initial configurations. More...
 
Eigen::VectorXd dq1
 Chache data for generalized velocities. More...
 
Eigen::VectorXd dq2
 
Eigen::VectorXd dq3
 
Eigen::VectorXd dq4
 
Eigen::VectorXd ddq1
 Chache data for generalized accelerations. More...
 
Eigen::VectorXd ddq2
 
Eigen::VectorXd ddq3
 
Eigen::VectorXd ddq4
 

Detailed Description

Constructor & Destructor Documentation

◆ RK4Integrator()

dart::integration::RK4Integrator::RK4Integrator ( )

Constructor.

◆ ~RK4Integrator()

dart::integration::RK4Integrator::~RK4Integrator ( )
virtual

Destructor.

Member Function Documentation

◆ integrate()

void dart::integration::RK4Integrator::integrate ( IntegrableSystem _system,
double  _dt 
)
overridevirtual

Integrate the system with time step dt.

Implements dart::integration::Integrator.

◆ integratePos()

virtual void dart::integration::Integrator::integratePos ( IntegrableSystem _system,
double  _dt 
)
pure virtualinherited

Integrate velocity of the system with time step dt.

Implemented in dart::integration::SemiImplicitEulerIntegrator, and dart::integration::EulerIntegrator.

◆ integrateVel()

virtual void dart::integration::Integrator::integrateVel ( IntegrableSystem _system,
double  _dt 
)
pure virtualinherited

Integrate velocity of the system with time step dt.

Implemented in dart::integration::SemiImplicitEulerIntegrator, and dart::integration::EulerIntegrator.

Member Data Documentation

◆ ddq1

Eigen::VectorXd dart::integration::RK4Integrator::ddq1
private

Chache data for generalized accelerations.

◆ ddq2

Eigen::VectorXd dart::integration::RK4Integrator::ddq2
private

◆ ddq3

Eigen::VectorXd dart::integration::RK4Integrator::ddq3
private

◆ ddq4

Eigen::VectorXd dart::integration::RK4Integrator::ddq4
private

◆ dq1

Eigen::VectorXd dart::integration::RK4Integrator::dq1
private

Chache data for generalized velocities.

◆ dq2

Eigen::VectorXd dart::integration::RK4Integrator::dq2
private

◆ dq3

Eigen::VectorXd dart::integration::RK4Integrator::dq3
private

◆ dq4

Eigen::VectorXd dart::integration::RK4Integrator::dq4
private

◆ q1

Eigen::VectorXd dart::integration::RK4Integrator::q1
private

Initial configurations.