icarus::AdaptiveIntegrator< Scalar > Class Template Reference

Interface for adaptive step integrators. More...

#include <Integrator.hpp>

Inheritance diagram for icarus::AdaptiveIntegrator< Scalar >:

Collaboration diagram for icarus::AdaptiveIntegrator< Scalar >:

Public Member Functions
virtual AdaptiveStepResult< Scalar >	AdaptiveStep (const DerivativeFunc &f, const JanusVector< Scalar > &x, Scalar t, Scalar dt)=0
	Advance with error control.
bool	IsAdaptive () const override
	Check if integrator supports adaptive stepping.
virtual void	SetAbsTol (Scalar tol)=0
	Set absolute tolerance.
virtual void	SetRelTol (Scalar tol)=0
	Set relative tolerance.
virtual Scalar	GetAbsTol () const =0
	Get current absolute tolerance.
virtual Scalar	GetRelTol () const =0
	Get current relative tolerance.
Public Member Functions inherited from icarus::Integrator< Scalar >
virtual	~Integrator ()=default
virtual JanusVector< Scalar >	Step (const DerivativeFunc &f, const JanusVector< Scalar > &x, Scalar t, Scalar dt)=0
	Advance state by one step.
virtual std::string	Name () const =0
	Get integrator name for logging.
virtual int	Order () const =0
	Get integrator order (for error analysis).
virtual IntegratorType	Type () const =0
	Get integrator type.

Additional Inherited Members
Public Types inherited from icarus::Integrator< Scalar >
using	DerivativeFunc
	Derivative function signature.

Detailed Description

template<typename Scalar>
class icarus::AdaptiveIntegrator< Scalar >

Interface for adaptive step integrators.

Extends base Integrator with error-controlled stepping.

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Member Function Documentation

AdaptiveStep()

template<typename Scalar>

virtual AdaptiveStepResult< Scalar > icarus::AdaptiveIntegrator< Scalar >::AdaptiveStep ( const DerivativeFunc & f, const JanusVector< Scalar > & x, Scalar t, Scalar dt )

pure virtual

Advance with error control.

May take a smaller step than requested to meet tolerance.

Parameters

f	Derivative function
x	Current state vector
t	Current time
dt	Requested time step

Returns

Result with actual step, error, and acceptance status

Implemented in icarus::RK45Integrator< Scalar >.

GetAbsTol()

template<typename Scalar>

virtual Scalar icarus::AdaptiveIntegrator< Scalar >::GetAbsTol ( ) const

nodiscardpure virtual

Get current absolute tolerance.

Implemented in icarus::RK45Integrator< Scalar >.

GetRelTol()

template<typename Scalar>

virtual Scalar icarus::AdaptiveIntegrator< Scalar >::GetRelTol ( ) const

nodiscardpure virtual

Get current relative tolerance.

Implemented in icarus::RK45Integrator< Scalar >.

IsAdaptive()

template<typename Scalar>

bool icarus::AdaptiveIntegrator< Scalar >::IsAdaptive ( ) const

inlinenodiscardoverridevirtual

Check if integrator supports adaptive stepping.

Reimplemented from icarus::Integrator< Scalar >.

SetAbsTol()

template<typename Scalar>

virtual void icarus::AdaptiveIntegrator< Scalar >::SetAbsTol ( Scalar tol )

pure virtual

Set absolute tolerance.

Implemented in icarus::RK45Integrator< Scalar >.

SetRelTol()

template<typename Scalar>

virtual void icarus::AdaptiveIntegrator< Scalar >::SetRelTol ( Scalar tol )

pure virtual

Set relative tolerance.

Implemented in icarus::RK45Integrator< Scalar >.

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

• include/icarus/sim/integrators/Integrator.hpp