#include <BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h>
template<class _DynamicalSystem>
BipedalLocomotion::ContinuousDynamicalSystem::ForwardEuler class

Forward Euler integration method.

Template parameters
_DynamicalSystem a class derived from DynamicalSystem

Base classes

template<class _Derived>
class FixedStepIntegrator<ForwardEuler<_DynamicalSystem>>
Fixed step integrator base class.

Public types

using DynamicalSystem = typename internal::traits<ForwardEuler<_DynamicalSystem>>::DynamicalSystem
using State = typename internal::traits<ForwardEuler<_DynamicalSystem>>::State
using StateDerivative = typename internal::traits<ForwardEuler<_DynamicalSystem>>::StateDerivative

Public functions

auto oneStepIntegration(const std::chrono::nanoseconds& t0, const std::chrono::nanoseconds& dT) -> bool
Integrate one step.

Function documentation

template<class _DynamicalSystem>
bool BipedalLocomotion::ContinuousDynamicalSystem::ForwardEuler<_DynamicalSystem>::oneStepIntegration(const std::chrono::nanoseconds& t0, const std::chrono::nanoseconds& dT)

Integrate one step.

Parameters
t0 initial time.
dT sampling time.
Returns true in case of success, false otherwise.