DART  6.6.2
EulerIntegrator.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2018, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_INTEGRATION_EULERINTEGRATOR_HPP_
34 #define DART_INTEGRATION_EULERINTEGRATOR_HPP_
35 
37 
38 namespace dart {
39 namespace integration {
40 
43 {
44 public:
47 
49  virtual ~EulerIntegrator();
50 
51  // Documentation inherited
52  void integrate(IntegrableSystem* _system, double _dt) override;
53 
54  // Documentation inherited
55  void integratePos(IntegrableSystem* _system, double _dt) override;
56 
57  // Documentation inherited
58  void integrateVel(IntegrableSystem* _system, double _dt) override;
59 };
60 
61 } // namespace integration
62 } // namespace dart
63 
64 #endif // DART_INTEGRATION_EULERINTEGRATOR_HPP_
class EulerIntegrator
Definition: EulerIntegrator.hpp:43
EulerIntegrator()
Constructor.
Definition: EulerIntegrator.cpp:39
void integratePos(IntegrableSystem *_system, double _dt) override
Integrate velocity of the system with time step dt.
Definition: EulerIntegrator.cpp:57
void integrateVel(IntegrableSystem *_system, double _dt) override
Integrate velocity of the system with time step dt.
Definition: EulerIntegrator.cpp:63
virtual ~EulerIntegrator()
Destructor.
Definition: EulerIntegrator.cpp:45
void integrate(IntegrableSystem *_system, double _dt) override
Integrate the system with time step dt.
Definition: EulerIntegrator.cpp:50
Any class that uses an integrator should implement this interface.
Definition: Integrator.hpp:45
class Integrator
Definition: Integrator.hpp:82
Definition: BulletCollisionDetector.cpp:63