icarus::IntegrationManager< Scalar > Class Template Reference

Manages integrator lifecycle and stepping. More...

#include <IntegrationManager.hpp>

Public Types
using	DerivativeFunc = std::function<JanusVector<Scalar>(Scalar, const JanusVector<Scalar> &)>
	Derivative function signature: (t, X) -> X_dot.

Public Member Functions
	IntegrationManager ()=default
void	Configure (const IntegratorConfig< Scalar > &config)
	Configure from IntegratorConfig.
void	Configure (IntegratorType type)
	Configure from integrator type enum.
void	Configure (const std::string &type_name)
	Configure from type name string.
void	ConfigureDefault ()
	Configure with default integrator (RK4).
JanusVector< Scalar >	Step (const DerivativeFunc &deriv_func, const JanusVector< Scalar > &X, Scalar t, Scalar dt)
	Perform fixed-step integration.
AdaptiveStepResult< Scalar >	AdaptiveStep (const DerivativeFunc &deriv_func, const JanusVector< Scalar > &X, Scalar t, Scalar dt_request)
	Perform adaptive-step integration.
IntegratorType	Type () const
	Get current integrator type.
const IntegratorConfig< Scalar > &	Config () const
	Get current configuration.
std::string	Name () const
	Get integrator name.
bool	IsConfigured () const
	Check if integrator is configured.
bool	IsAdaptive () const
	Check if current integrator supports adaptive stepping.
Integrator< Scalar > *	GetIntegrator ()
	Get direct access to integrator (expert use).
const Integrator< Scalar > *	GetIntegrator () const
	Get direct const access to integrator (expert use).

Detailed Description

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

Manages integrator lifecycle and stepping.

Centralizes integrator management that was previously spread across Simulator methods.

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Member Typedef Documentation

DerivativeFunc

template<typename Scalar>

using icarus::IntegrationManager< Scalar >::DerivativeFunc = std::function<JanusVector<Scalar>(Scalar, const JanusVector<Scalar> &)>

Derivative function signature: (t, X) -> X_dot.

Constructor & Destructor Documentation

IntegrationManager()

template<typename Scalar>

icarus::IntegrationManager< Scalar >::IntegrationManager ( )

default

Member Function Documentation

AdaptiveStep()

template<typename Scalar>

AdaptiveStepResult< Scalar > icarus::IntegrationManager< Scalar >::AdaptiveStep ( const DerivativeFunc & deriv_func, const JanusVector< Scalar > & X, Scalar t, Scalar dt_request )

inlinenodiscard

Perform adaptive-step integration.

Only available for adaptive integrators (e.g., RK45).

Parameters

deriv_func	Derivative function (t, X) -> X_dot
X	Current state vector
t	Current time
dt_request	Requested time step

Returns

AdaptiveStepResult with actual step taken

Config()

template<typename Scalar>

const IntegratorConfig< Scalar > & icarus::IntegrationManager< Scalar >::Config ( ) const

inlinenodiscard

Get current configuration.

Configure() [1/3]

template<typename Scalar>

void icarus::IntegrationManager< Scalar >::Configure ( const IntegratorConfig< Scalar > & config )

inline

Configure from IntegratorConfig.

Creates the appropriate integrator based on configuration.

Parameters

config

Integrator configuration

Configure() [2/3]

template<typename Scalar>

void icarus::IntegrationManager< Scalar >::Configure ( const std::string & type_name )

inline

Configure from type name string.

Parameters

type_name

Integrator type name (e.g., "RK4", "RK45")

Configure() [3/3]

template<typename Scalar>

void icarus::IntegrationManager< Scalar >::Configure ( IntegratorType type )

inline

Configure from integrator type enum.

Parameters

type	Integrator type

ConfigureDefault()

template<typename Scalar>

void icarus::IntegrationManager< Scalar >::ConfigureDefault ( )

inline

Configure with default integrator (RK4).

GetIntegrator() [1/2]

template<typename Scalar>

Integrator< Scalar > * icarus::IntegrationManager< Scalar >::GetIntegrator ( )

inlinenodiscard

Get direct access to integrator (expert use).

GetIntegrator() [2/2]

template<typename Scalar>

const Integrator< Scalar > * icarus::IntegrationManager< Scalar >::GetIntegrator ( ) const

inlinenodiscard

Get direct const access to integrator (expert use).

IsAdaptive()

template<typename Scalar>

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

inlinenodiscard

Check if current integrator supports adaptive stepping.

IsConfigured()

template<typename Scalar>

bool icarus::IntegrationManager< Scalar >::IsConfigured ( ) const

inlinenodiscard

Check if integrator is configured.

Name()

template<typename Scalar>

std::string icarus::IntegrationManager< Scalar >::Name ( ) const

inlinenodiscard

Get integrator name.

Step()

template<typename Scalar>

JanusVector< Scalar > icarus::IntegrationManager< Scalar >::Step ( const DerivativeFunc & deriv_func, const JanusVector< Scalar > & X, Scalar t, Scalar dt )

inlinenodiscard

Perform fixed-step integration.

Parameters

deriv_func	Derivative function (t, X) -> X_dot
X	Current state vector
t	Current time
dt	Time step

Returns

New state at t + dt

Type()

template<typename Scalar>

IntegratorType icarus::IntegrationManager< Scalar >::Type ( ) const

inlinenodiscard

Get current integrator type.

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

• include/icarus/sim/IntegrationManager.hpp