icarus::Integrator< Scalar > Class Template Reference

Abstract interface for numerical integrators. More...

#include <Integrator.hpp>

Inheritance diagram for icarus::Integrator< Scalar >:

Public Types
using	DerivativeFunc
	Derivative function signature.

Public Member Functions
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.
virtual bool	IsAdaptive () const
	Check if integrator supports adaptive stepping.

Detailed Description

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

Abstract interface for numerical integrators.

Integrators advance state using derivative information from the Simulator. All implementations are templated on Scalar for symbolic mode support.

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Member Typedef Documentation

DerivativeFunc

template<typename Scalar>

using icarus::Integrator< Scalar >::DerivativeFunc

Initial value:

 
        std::function<JanusVector<Scalar>(Scalar t, const JanusVector<Scalar> &x)>

Derivative function signature.

Maps (t, X) → dX/dt

Constructor & Destructor Documentation

~Integrator()

template<typename Scalar>

virtual icarus::Integrator< Scalar >::~Integrator ( )

virtualdefault

Member Function Documentation

IsAdaptive()

template<typename Scalar>

virtual bool icarus::Integrator< Scalar >::IsAdaptive ( ) const

inlinenodiscardvirtual

Check if integrator supports adaptive stepping.

Reimplemented in icarus::AdaptiveIntegrator< Scalar >.

Name()

template<typename Scalar>

virtual std::string icarus::Integrator< Scalar >::Name ( ) const

nodiscardpure virtual

Get integrator name for logging.

Implemented in icarus::EulerIntegrator< Scalar >, icarus::RK2Integrator< Scalar >, icarus::RK45Integrator< Scalar >, and icarus::RK4Integrator< Scalar >.

Order()

template<typename Scalar>

virtual int icarus::Integrator< Scalar >::Order ( ) const

nodiscardpure virtual

Get integrator order (for error analysis).

Implemented in icarus::EulerIntegrator< Scalar >, icarus::RK2Integrator< Scalar >, icarus::RK45Integrator< Scalar >, and icarus::RK4Integrator< Scalar >.

Step()

template<typename Scalar>

virtual JanusVector< Scalar > icarus::Integrator< Scalar >::Step ( const DerivativeFunc & f, const JanusVector< Scalar > & x, Scalar t, Scalar dt )

pure virtual

Advance state by one step.

Parameters

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

Returns

New state at t + dt

Implemented in icarus::EulerIntegrator< Scalar >, icarus::RK2Integrator< Scalar >, icarus::RK45Integrator< Scalar >, and icarus::RK4Integrator< Scalar >.

Type()

template<typename Scalar>

virtual IntegratorType icarus::Integrator< Scalar >::Type ( ) const

nodiscardpure virtual

Get integrator type.

Implemented in icarus::EulerIntegrator< Scalar >, icarus::RK2Integrator< Scalar >, icarus::RK45Integrator< Scalar >, and icarus::RK4Integrator< Scalar >.

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

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