template<class _Derived>
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
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template<class _Derived>class Integrator<FixedStepIntegrator<_Derived>>
- Integrator base class.
Derived classes
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template<class _DynamicalSystem>class ForwardEuler
- Forward Euler integration method.
Public types
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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. |