Here a template function for Runge-Kutta integration is defined. More...
Include dependency graph for integrate_rungekutta.hxx:
Classes | |
| class | RungeKuttaWorkspace |
| This defines a "data-pack", with room for workspace for the Runge-Kutta integration. More... | |
Typedefs | |
| typedef Eigen::Map< Eigen::VectorXd > | VectorE |
| a vector that takes external storage | |
Functions | |
| template<class MOD > | |
| void | integrate_rungekutta (MOD &model, RungeKuttaWorkspace &ws, double dt) |
| This function applies one Runge Kutta integration step to the state given in the kinematics argument. | |
Detailed Description
Here a template function for Runge-Kutta integration is defined.
Function Documentation
◆ integrate_rungekutta()
template<class MOD >
| void integrate_rungekutta | ( | MOD & | model, |
| RungeKuttaWorkspace & | ws, | ||
| double | dt ) |
This function applies one Runge Kutta integration step to the state given in the kinematics argument.
The forces, moments and gravitation applied by the forcer are taken into account.
The template parameter needs to stick to the following signature:
class MOD {
// calculate derivative for current time + dt
void derivative(VectorE& xd, double dt);
// return state
const VectorE& X() const;
// set state
void setState(const VectorE& newx);
};
- Parameters
-
model State-carrying object, one that can calculate its derivative. ws workspace for the integration. dt Time step of the integration.
- Examples
- PulsedBody.cxx.