Linear Version of the Euler Implicit ode solver This solver assumes that the system is linear, ie that Mass, Damping, and Stiffness matrices do not change. More...

#include <SurgSim/Math/OdeSolverLinearEulerImplicit.h>

Inheritance diagram for SurgSim::Math::OdeSolverLinearEulerImplicit:

Public Member Functions
	OdeSolverLinearEulerImplicit (OdeEquation *equation)
	Constructor. More...

virtual void	solve (double dt, const OdeState &currentState, OdeState *newState) override
	Solves the equation. More...

Public Member Functions inherited from SurgSim::Math::OdeSolverEulerImplicit
	OdeSolverEulerImplicit (OdeEquation *equation)
	Constructor. More...

Public Member Functions inherited from SurgSim::Math::OdeSolver
	OdeSolver (OdeEquation *equation)
	Constructor. More...

virtual	~OdeSolver ()
	Virtual destructor. More...

const std::string	getName () const
	Gets the solver's name. More...

void	setLinearSolver (std::shared_ptr< LinearSolveAndInverse > linearSolver)
	Sets the specialized linear solver to use with this Ode solver. More...

std::shared_ptr< LinearSolveAndInverse >	getLinearSolver () const
	Gets the specialized linear solver used with this Ode solver. More...

const Matrix &	getSystemMatrix () const
	Queries the current system matrix. More...

const Matrix &	getCompliance () const
	Queries the current compliance matrix. More...

Private Attributes
Matrix	m_constantK
	The constant stiffness matrix. More...

bool	m_initialized
	Has the solver been initialized. More...

Additional Inherited Members
Protected Member Functions inherited from SurgSim::Math::OdeSolver
void	allocate (size_t size)
	Allocates the system and compliance matrices. More...

Protected Attributes inherited from SurgSim::Math::OdeSolver
std::string	m_name
	Name for this solver. More...

OdeEquation &	m_equation
	The ode equation (API providing the necessary evaluation methods and the initial state) More...

std::shared_ptr< LinearSolveAndInverse >	m_linearSolver
	The specialized linear solver to use when solving the ode equation. More...

Matrix	m_systemMatrix
	System matrix (can be M, K, combination of MDK depending on the solver) A static solver will have K for system matrix A dynamic explicit solver will have M for system matrix A dynamic implicit solver will have a combination of M, D and K for system matrix. More...

Matrix	m_compliance
	Compliance matrix which is the inverse of the system matrix. More...

Detailed Description

Linear Version of the Euler Implicit ode solver This solver assumes that the system is linear, ie that Mass, Damping, and Stiffness matrices do not change.

Constructor & Destructor Documentation

SurgSim::Math::OdeSolverLinearEulerImplicit::OdeSolverLinearEulerImplicit ( OdeEquation * equation )

explicit

Constructor.

Parameters

equation The ode equation to be solved

Member Function Documentation

void SurgSim::Math::OdeSolverLinearEulerImplicit::solve	(	double	dt,
		const OdeState &	currentState,
		OdeState *	newState
	)

overridevirtual

Solves the equation.

Parameters

	dt	The time step
	currentState	State at time t
[out]	newState	State at time t+dt

Reimplemented from SurgSim::Math::OdeSolverEulerImplicit.

Member Data Documentation

Matrix SurgSim::Math::OdeSolverLinearEulerImplicit::m_constantK

private

The constant stiffness matrix.

bool SurgSim::Math::OdeSolverLinearEulerImplicit::m_initialized

private

Has the solver been initialized.

The documentation for this class was generated from the following files:

SurgSim/Math/OdeSolverLinearEulerImplicit.h
SurgSim/Math/OdeSolverLinearEulerImplicit.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation