integrate_rungekutta.hxx File Reference

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.