BipedalLocomotion::ContinuousDynamicalSystem::FixedStepIntegrator class

Fixed step integrator base class.

Please inherit publicly from this class in order to specify a custom integration method. The custom integration method must define a method called oneStepIntegration()

Base classes

template<class _Derived> class Integrator<FixedStepIntegrator<_Derived>>: Integrator base class.

Derived classes

template<class _DynamicalSystem> class ForwardEuler: Forward Euler integration method.

Public types

using DynamicalSystem = typename internal::traits<FixedStepIntegrator<_Derived>>::DynamicalSystem
using State = typename internal::traits<FixedStepIntegrator<_Derived>>::State
using StateDerivative = typename internal::traits<FixedStepIntegrator<_Derived>>::StateDerivative

Public functions

auto setIntegrationStep(const std::chrono::nanoseconds& dT) -> bool: Set the integration step time.
auto getIntegrationStep() const -> const std::chrono::nanoseconds&: get the integration step time
auto integrate(const std::chrono::nanoseconds& initialTime, const std::chrono::nanoseconds& finalTime) -> bool: Integrate the dynamical system from initialTime to finalTime.

Protected variables

std::chrono::nanoseconds m_dT: Fixed step size.

Function documentation

template<class _Derived>
bool BipedalLocomotion::ContinuousDynamicalSystem::FixedStepIntegrator<_Derived>::setIntegrationStep(const std::chrono::nanoseconds& dT)

Set the integration step time.

Parameters
dT	integration step time

template<class _Derived>
const std::chrono::nanoseconds& BipedalLocomotion::ContinuousDynamicalSystem::FixedStepIntegrator<_Derived>::getIntegrationStep() const

get the integration step time

Returns	the integration step time

template<class _Derived>
bool BipedalLocomotion::ContinuousDynamicalSystem::FixedStepIntegrator<_Derived>::integrate(const std::chrono::nanoseconds& initialTime, const std::chrono::nanoseconds& finalTime)

Integrate the dynamical system from initialTime to finalTime.

Parameters
initialTime	initial time of the integration.
finalTime	final time of the integration.
Returns	true in case of success, false otherwise.