DART  6.6.2
RK4Integrator.hpp
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32 
33 #ifndef DART_INTEGRATION_RK4INTEGRATOR_HPP_
34 #define DART_INTEGRATION_RK4INTEGRATOR_HPP_
35 
37 
38 namespace dart {
39 namespace integration {
40 
42 class RK4Integrator : public Integrator
43 {
44 public:
46  RK4Integrator();
47 
49  virtual ~RK4Integrator();
50 
51  // Documentation inherited
52  void integrate(IntegrableSystem* _system, double _dt) override;
53 
54 private:
56  Eigen::VectorXd q1;
57 
59  Eigen::VectorXd dq1, dq2, dq3, dq4;
60 
62  Eigen::VectorXd ddq1, ddq2, ddq3, ddq4;
63 };
64 
65 } // namespace integration
66 } // namespace dart
67 
68 #endif // DART_INTEGRATION_RK4INTEGRATOR_HPP_
Any class that uses an integrator should implement this interface.
Definition: Integrator.hpp:45
class Integrator
Definition: Integrator.hpp:82
class RK4Integrator
Definition: RK4Integrator.hpp:43
void integrate(IntegrableSystem *_system, double _dt) override
Integrate the system with time step dt.
Definition: RK4Integrator.cpp:49
virtual ~RK4Integrator()
Destructor.
Definition: RK4Integrator.cpp:44
Eigen::VectorXd ddq2
Definition: RK4Integrator.hpp:62
Eigen::VectorXd q1
Initial configurations.
Definition: RK4Integrator.hpp:56
Eigen::VectorXd dq1
Chache data for generalized velocities.
Definition: RK4Integrator.hpp:59
Eigen::VectorXd dq4
Definition: RK4Integrator.hpp:59
Eigen::VectorXd ddq3
Definition: RK4Integrator.hpp:62
Eigen::VectorXd dq3
Definition: RK4Integrator.hpp:59
RK4Integrator()
Constructor.
Definition: RK4Integrator.cpp:39
Eigen::VectorXd ddq1
Chache data for generalized accelerations.
Definition: RK4Integrator.hpp:62
Eigen::VectorXd dq2
Definition: RK4Integrator.hpp:59
Eigen::VectorXd ddq4
Definition: RK4Integrator.hpp:62
Definition: BulletCollisionDetector.cpp:63