DART  6.6.2
Integrator.hpp
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32 
33 #ifndef DART_INTEGRATION_INTEGRATOR_HPP_
34 #define DART_INTEGRATION_INTEGRATOR_HPP_
35 
36 #include <vector>
37 
38 #include <Eigen/Dense>
39 
40 namespace dart {
41 namespace integration {
42 
45 {
46 public:
49 
51  virtual ~IntegrableSystem();
52 
53 public:
55  virtual void setConfigs(const Eigen::VectorXd& _configs) = 0;
56 
58  virtual void setGenVels(const Eigen::VectorXd& _genVels) = 0;
59 
61  virtual Eigen::VectorXd getConfigs() const = 0;
62 
64  virtual Eigen::VectorXd getGenVels() const = 0;
65 
67  virtual Eigen::VectorXd evalGenAccs() = 0;
68 
70  virtual void integrateConfigs(const Eigen::VectorXd& _genVels,
71  double _dt) = 0;
72 
74  virtual void integrateGenVels(const Eigen::VectorXd& _genVels,
75  double _dt) = 0;
76 };
77 
78 // TODO(kasiu): Consider templating the class (which currently only works on
79 // arbitrarily-sized vectors of doubles)
82 {
83 public:
85  Integrator();
86 
88  virtual ~Integrator();
89 
90 public:
92  virtual void integrate(IntegrableSystem* _system, double _dt) = 0;
93 
95  virtual void integratePos(IntegrableSystem* _system, double _dt) = 0;
96 
98  virtual void integrateVel(IntegrableSystem* _system, double _dt) = 0;
99 };
100 
101 } // namespace integration
102 } // namespace dart
103 
104 #endif // DART_INTEGRATION_INTEGRATOR_HPP_
Any class that uses an integrator should implement this interface.
Definition: Integrator.hpp:45
virtual Eigen::VectorXd getConfigs() const =0
Get configurations.
virtual void integrateConfigs(const Eigen::VectorXd &_genVels, double _dt)=0
Integrate configruations and store them in the system.
virtual void setGenVels(const Eigen::VectorXd &_genVels)=0
Set generalized velocities.
virtual Eigen::VectorXd getGenVels() const =0
Get generalized velocities.
virtual Eigen::VectorXd evalGenAccs()=0
Evaulate generalized accelerations.
IntegrableSystem()
Constructor.
Definition: Integrator.cpp:39
virtual void setConfigs(const Eigen::VectorXd &_configs)=0
Set configurations.
virtual void integrateGenVels(const Eigen::VectorXd &_genVels, double _dt)=0
Integrate generalized velocities and store them in the system.
virtual ~IntegrableSystem()
Destructor.
Definition: Integrator.cpp:44
class Integrator
Definition: Integrator.hpp:82
virtual void integrate(IntegrableSystem *_system, double _dt)=0
Integrate the system with time step dt.
Integrator()
Constructor.
Definition: Integrator.cpp:49
virtual ~Integrator()
Destructor.
Definition: Integrator.cpp:54
virtual void integratePos(IntegrableSystem *_system, double _dt)=0
Integrate velocity of the system with time step dt.
virtual void integrateVel(IntegrableSystem *_system, double _dt)=0
Integrate velocity of the system with time step dt.
Definition: BulletCollisionDetector.cpp:63