Inheritance diagram for SurgSim::Math::OdeSolverRungeKutta4:

Classes
struct	RungeKuttaDerivedState
	Internal structure to hold the 4 temporary evaluations. More...

Public Member Functions
	OdeSolverRungeKutta4 (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::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...

Protected Attributes
Vector	m_force
	Temporary vectors to store the 4 intermediates evaluations. More...

RungeKuttaDerivedState	m_k1
	Runge kutta 4 intermediate system evaluations. More...

RungeKuttaDerivedState	m_k2

RungeKuttaDerivedState	m_k3

RungeKuttaDerivedState	m_k4

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...

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

Detailed Description

Note: M(x(t), v(t)).a(t) = f(t, x(t), v(t)); This ode equation is solved as an ode of order 1 by defining the state vector y = (x v)^t:; y' = ( x' ) = ( dx/dt ) = ( v ); ( v' ) = ( dv/dt ) = ( M(x, v)^{-1}.f(x, v) ); y' = f(t, y); Runge Kutta 4 solves it via 4 dependents evaluation of f at different times; y(n+1) = y(n) + 1/6.dt (k1 + 2*k2 + 2*k3 + k4); with:; k1 = f(t , y(n)); k2 = f(t+dt/2, y(n) + k1.dt/2); k3 = f(t+dt/2, y(n) + k2.dt/2); k4 = f(t+dt , y(n) + k3.dt)

Constructor & Destructor Documentation

SurgSim::Math::OdeSolverRungeKutta4::OdeSolverRungeKutta4 ( OdeEquation * equation )

explicit

Constructor.

Parameters

equation The ode equation to be solved

void SurgSim::Math::OdeSolverRungeKutta4::solve	(	double	dt,
		const OdeState &	currentState,
		OdeState *	newState
	)

overridevirtual

Solves the equation.

Parameters

Vector SurgSim::Math::OdeSolverRungeKutta4::m_force

protected

Temporary vectors to store the 4 intermediates evaluations.

RungeKuttaDerivedState SurgSim::Math::OdeSolverRungeKutta4::m_k1

protected

Runge kutta 4 intermediate system evaluations.

RungeKuttaDerivedState SurgSim::Math::OdeSolverRungeKutta4::m_k2

protected

RungeKuttaDerivedState SurgSim::Math::OdeSolverRungeKutta4::m_k3

protected

RungeKuttaDerivedState SurgSim::Math::OdeSolverRungeKutta4::m_k4

protected

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