dart::integration::IntegrableSystem Class Reference

Any class that uses an integrator should implement this interface. More...

#include <Integrator.hpp>

Public Member Functions
	IntegrableSystem ()
	Constructor.
virtual	~IntegrableSystem ()
	Destructor.
virtual void	setConfigs (const Eigen::VectorXd &_configs)=0
	Set configurations.
virtual void	setGenVels (const Eigen::VectorXd &_genVels)=0
	Set generalized velocities.
virtual Eigen::VectorXd	getConfigs () const =0
	Get configurations.
virtual Eigen::VectorXd	getGenVels () const =0
	Get generalized velocities.
virtual Eigen::VectorXd	evalGenAccs ()=0
	Evaulate generalized accelerations.
virtual void	integrateConfigs (const Eigen::VectorXd &_genVels, double _dt)=0
	Integrate configruations and store them in the system.
virtual void	integrateGenVels (const Eigen::VectorXd &_genVels, double _dt)=0
	Integrate generalized velocities and store them in the system.

Detailed Description

Any class that uses an integrator should implement this interface.

Constructor & Destructor Documentation

IntegrableSystem()

dart::integration::IntegrableSystem::IntegrableSystem

(

)

Constructor.

~IntegrableSystem()

dart::integration::IntegrableSystem::~IntegrableSystem ( )

virtual

Destructor.

Member Function Documentation

evalGenAccs()

virtual Eigen::VectorXd dart::integration::IntegrableSystem::evalGenAccs ( )

pure virtual

Evaulate generalized accelerations.

getConfigs()

virtual Eigen::VectorXd dart::integration::IntegrableSystem::getConfigs ( ) const

pure virtual

Get configurations.

getGenVels()

virtual Eigen::VectorXd dart::integration::IntegrableSystem::getGenVels ( ) const

pure virtual

Get generalized velocities.

integrateConfigs()

virtual void dart::integration::IntegrableSystem::integrateConfigs ( const Eigen::VectorXd &  _genVels, double  _dt  )

pure virtual

Integrate configruations and store them in the system.

integrateGenVels()

virtual void dart::integration::IntegrableSystem::integrateGenVels ( const Eigen::VectorXd &  _genVels, double  _dt  )

pure virtual

Integrate generalized velocities and store them in the system.

setConfigs()

virtual void dart::integration::IntegrableSystem::setConfigs ( const Eigen::VectorXd &  _configs )

pure virtual

Set configurations.

setGenVels()

virtual void dart::integration::IntegrableSystem::setGenVels ( const Eigen::VectorXd &  _genVels )

pure virtual

Set generalized velocities.