template<class _DynamicalSystem>
RK4 class
RK4 implements the runge-kutta 4 integration method.
Template parameters | |
---|---|
_DynamicalSystem | a class derived from DynamicalSystem |
It implements the following equation
where
where is the state at time , is the input at time and is the sampling time.
Base classes
-
template<class _Derived>class FixedStepIntegrator<RK4<_DynamicalSystem>>
- Fixed step integrator base class.
Public types
-
using DynamicalSystem = typename internal::
traits<RK4<_DynamicalSystem>>::DynamicalSystem -
using State = typename internal::
traits<RK4<_DynamicalSystem>>::State -
using StateDerivative = typename internal::
traits<RK4<_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:: RK4<_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. |