dart::integration::RK4Integrator Class Reference

class RK4Integrator More...

#include <RK4Integrator.hpp>

Inheritance diagram for dart::integration::RK4Integrator:

Public Member Functions
	RK4Integrator ()
	Constructor. More...
virtual	~RK4Integrator ()
	Destructor. More...
void	integrate (IntegrableSystem *_system, double _dt) override
	Integrate the system with time step dt. More...
virtual void	integratePos (IntegrableSystem *_system, double _dt)=0
	Integrate velocity of the system with time step dt. More...
virtual void	integrateVel (IntegrableSystem *_system, double _dt)=0
	Integrate velocity of the system with time step dt. More...

Private Attributes
Eigen::VectorXd	q1
	Initial configurations. More...
Eigen::VectorXd	dq1
	Chache data for generalized velocities. More...
Eigen::VectorXd	dq2
Eigen::VectorXd	dq3
Eigen::VectorXd	dq4
Eigen::VectorXd	ddq1
	Chache data for generalized accelerations. More...
Eigen::VectorXd	ddq2
Eigen::VectorXd	ddq3
Eigen::VectorXd	ddq4

Detailed Description

class RK4Integrator

Constructor & Destructor Documentation

RK4Integrator()

dart::integration::RK4Integrator::RK4Integrator

(

)

Constructor.

~RK4Integrator()

dart::integration::RK4Integrator::~RK4Integrator ( )

virtual

Destructor.

Member Function Documentation

integrate()

void dart::integration::RK4Integrator::integrate ( IntegrableSystem *  _system, double  _dt  )

overridevirtual

Integrate the system with time step dt.

Implements dart::integration::Integrator.

integratePos()

virtual void dart::integration::Integrator::integratePos ( IntegrableSystem *  _system, double  _dt  )

pure virtualinherited

Integrate velocity of the system with time step dt.

Implemented in dart::integration::SemiImplicitEulerIntegrator, and dart::integration::EulerIntegrator.

integrateVel()

virtual void dart::integration::Integrator::integrateVel ( IntegrableSystem *  _system, double  _dt  )

pure virtualinherited

Integrate velocity of the system with time step dt.

Implemented in dart::integration::SemiImplicitEulerIntegrator, and dart::integration::EulerIntegrator.

Member Data Documentation

ddq1

Eigen::VectorXd dart::integration::RK4Integrator::ddq1

private

Chache data for generalized accelerations.

ddq2

Eigen::VectorXd dart::integration::RK4Integrator::ddq2

private

ddq3

Eigen::VectorXd dart::integration::RK4Integrator::ddq3

private

ddq4

Eigen::VectorXd dart::integration::RK4Integrator::ddq4

private

dq1

Eigen::VectorXd dart::integration::RK4Integrator::dq1

private

Chache data for generalized velocities.

dq2

Eigen::VectorXd dart::integration::RK4Integrator::dq2

private

dq3

Eigen::VectorXd dart::integration::RK4Integrator::dq3

private

dq4

Eigen::VectorXd dart::integration::RK4Integrator::dq4

private

q1

Eigen::VectorXd dart::integration::RK4Integrator::q1

private

Initial configurations.