template<class _Derived>
Integrator class
Integrator base class.
f$. Please inherit publicly from this class in order to define your custom integrator. Just be sure to call after your class definition BLF_
Derived classes
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template<class _Derived>class FixedStepIntegrator
- Fixed step integrator base class.
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template<class _Derived>class FixedStepIntegrator
- Fixed step integrator base class.
Public types
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using DynamicalSystem = typename internal::
traits<Integrator<_Derived>>::DynamicalSystem -
using State = typename internal::
traits<Integrator<_Derived>>::State -
using StateDerivative = typename internal::
traits<Integrator<_Derived>>::StateDerivative
Public functions
- auto setDynamicalSystem(std::shared_ptr<DynamicalSystem> dynamicalSystem) -> bool
- Set the DynamicalSystem to be considered.
- auto dynamicalSystem() const -> std::weak_ptr<DynamicalSystem>
- Get the dynamical system.
- auto getSolution() const -> const State&
- Retrieve the solution.
- auto integrate(const std::chrono::nanoseconds& initialTime, const std::chrono::nanoseconds& finalTime) -> bool
- Integrate the dynamical system from initialTime to finalTime.
Protected variables
- std::shared_ptr<DynamicalSystem> m_dynamicalSystem
- Pointer to a dynamical system.
Function documentation
template<class _Derived>
bool BipedalLocomotion:: ContinuousDynamicalSystem:: Integrator<_Derived>:: setDynamicalSystem(std::shared_ptr<DynamicalSystem> dynamicalSystem)
Set the DynamicalSystem to be considered.
Parameters | |
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dynamicalSystem | Pointer to a dynamical system. |
Returns | true in case of success, false otherwise. |
template<class _Derived>
std::weak_ptr<DynamicalSystem> BipedalLocomotion:: ContinuousDynamicalSystem:: Integrator<_Derived>:: dynamicalSystem() const
Get the dynamical system.
Returns | a weak pointer to a dynamical system. |
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template<class _Derived>
const State& BipedalLocomotion:: ContinuousDynamicalSystem:: Integrator<_Derived>:: getSolution() const
Retrieve the solution.
Returns | a const reference to the solution. |
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template<class _Derived>
bool BipedalLocomotion:: ContinuousDynamicalSystem:: Integrator<_Derived>:: integrate(const std::chrono::nanoseconds& initialTime,
const std::chrono::nanoseconds& finalTime)
Integrate the dynamical system from initialTime to finalTime.
Parameters | |
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initialTime | initial time of the integration. |
finalTime | final time of the integration. |
Returns | true in case of success, false otherwise. |