DART  6.7.3
dart::integration::IntegrableSystem Class Referenceabstract

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

#include <Integrator.hpp>

Public Member Functions

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

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.