16 #ifndef SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H 17 #define SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H 76 #endif // SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H Definition: DriveElementFromInputBehavior.cpp:27
RungeKuttaDerivedState m_k4
Definition: OdeSolverRungeKutta4.h:69
RungeKuttaDerivedState(const Vector &v, const Vector &a)
Definition: OdeSolverRungeKutta4.h:64
Internal structure to hold the 4 temporary evaluations.
Definition: OdeSolverRungeKutta4.h:61
Ode equation of 2nd order of the form M(x,v).a = F(x, v) with (x0, v0) for initial conditions and a s...
Definition: OdeEquation.h:40
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
RungeKuttaDerivedState m_k3
Definition: OdeSolverRungeKutta4.h:69
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
virtual void solve(double dt, const OdeState ¤tState, OdeState *newState) override
Solves the equation.
Definition: OdeSolverRungeKutta4.cpp:31
RungeKuttaDerivedState()
Definition: OdeSolverRungeKutta4.h:63
Runge Kutta 4 ode solver See http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods.
Definition: OdeSolverRungeKutta4.h:43
Base class for all solvers of ode equation of order 2 of the form M(x(t), v(t)).a(t) = f(t...
Definition: OdeSolver.h:73
Vector m_force
Temporary vectors to store the 4 intermediates evaluations.
Definition: OdeSolverRungeKutta4.h:58
RungeKuttaDerivedState m_k1
Runge kutta 4 intermediate system evaluations.
Definition: OdeSolverRungeKutta4.h:69
Vector acceleration
Definition: OdeSolverRungeKutta4.h:66
RungeKuttaDerivedState m_k2
Definition: OdeSolverRungeKutta4.h:69
OdeSolverRungeKutta4(OdeEquation *equation)
Constructor.
Definition: OdeSolverRungeKutta4.cpp:25
Vector velocity
Definition: OdeSolverRungeKutta4.h:65