Integrator.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_INTEGRATION_INTEGRATOR_HPP_
#define DART_INTEGRATION_INTEGRATOR_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
namespace dart {
namespace integration {
 
class IntegrableSystem
{
public:
  IntegrableSystem();
 
  virtual ~IntegrableSystem();
 
public:
  virtual void setConfigs(const Eigen::VectorXd& _configs) = 0;
 
  virtual void setGenVels(const Eigen::VectorXd& _genVels) = 0;
 
  virtual Eigen::VectorXd getConfigs() const = 0;
 
  virtual Eigen::VectorXd getGenVels() const = 0;
 
  virtual Eigen::VectorXd evalGenAccs() = 0;
 
  virtual void integrateConfigs(const Eigen::VectorXd& _genVels, double _dt)
      = 0;
 
  virtual void integrateGenVels(const Eigen::VectorXd& _genVels, double _dt)
      = 0;
};
 
// TODO(kasiu): Consider templating the class (which currently only works on
// arbitrarily-sized vectors of doubles)
class Integrator
{
public:
  Integrator();
 
  virtual ~Integrator();
 
public:
  virtual void integrate(IntegrableSystem* _system, double _dt) = 0;
 
  virtual void integratePos(IntegrableSystem* _system, double _dt) = 0;
 
  virtual void integrateVel(IntegrableSystem* _system, double _dt) = 0;
};
 
} // namespace integration
} // namespace dart
 
#endif // DART_INTEGRATION_INTEGRATOR_HPP_