Integrator.hpp

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#ifndef DART_INTEGRATION_INTEGRATOR_HPP_
#define DART_INTEGRATION_INTEGRATOR_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
namespace dart {
namespace integration {
 
class IntegrableSystem
{
public:
  IntegrableSystem();
 
  virtual ~IntegrableSystem();
 
public:
  virtual void setConfigs(const Eigen::VectorXd& _configs) = 0;
 
  virtual void setGenVels(const Eigen::VectorXd& _genVels) = 0;
 
  virtual Eigen::VectorXd getConfigs() const = 0;
 
  virtual Eigen::VectorXd getGenVels() const = 0;
 
  virtual Eigen::VectorXd evalGenAccs() = 0;
 
  virtual void integrateConfigs(const Eigen::VectorXd& _genVels,
                                double _dt) = 0;
 
  virtual void integrateGenVels(const Eigen::VectorXd& _genVels,
                                double _dt) = 0;
};
 
// TODO(kasiu): Consider templating the class (which currently only works on
// arbitrarily-sized vectors of doubles)
class Integrator
{
public:
  Integrator();
 
  virtual ~Integrator();
 
public:
  virtual void integrate(IntegrableSystem* _system, double _dt) = 0;
 
  virtual void integratePos(IntegrableSystem* _system, double _dt) = 0;
 
  virtual void integrateVel(IntegrableSystem* _system, double _dt) = 0;
};
 
}  // namespace integration
}  // namespace dart
 
#endif  // DART_INTEGRATION_INTEGRATOR_HPP_