Adaptive Dormand-Prince RK4(5) integrator. More...

#include <RK45Integrator.hpp>

Inheritance diagram for icarus::RK45Integrator< Scalar >:

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Collaboration diagram for icarus::RK45Integrator< Scalar >:

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Classes
struct	Statistics
	Statistics for adaptive stepping. More...

Public Member Functions
	RK45Integrator (Scalar abs_tol=Scalar{1e-6}, Scalar rel_tol=Scalar{1e-6})
	Construct with default tolerances.
JanusVector< Scalar >	Step (const DerivativeFunc &f, const JanusVector< Scalar > &x, Scalar t, Scalar dt) override
	Fixed-step interface (uses requested dt directly).
AdaptiveStepResult< Scalar >	AdaptiveStep (const DerivativeFunc &f, const JanusVector< Scalar > &x, Scalar t, Scalar dt) override
	Adaptive step with automatic error control.
void	SetAbsTol (Scalar tol) override
	Set absolute tolerance.
void	SetRelTol (Scalar tol) override
	Set relative tolerance.
Scalar	GetAbsTol () const override
	Get current absolute tolerance.
Scalar	GetRelTol () const override
	Get current relative tolerance.
std::string	Name () const override
	Get integrator name for logging.
int	Order () const override
	Get integrator order (for error analysis).
IntegratorType	Type () const override
	Get integrator type.
void	SetMinDt (Scalar min_dt)
void	SetMaxDt (Scalar max_dt)
void	SetSafetyFactor (Scalar factor)
Scalar	GetMinDt () const
Scalar	GetMaxDt () const
Scalar	SuggestDt (Scalar dt, Scalar error, Scalar tol) const
	Suggest next step size based on error.
const Statistics &	GetStatistics () const
void	ResetStatistics ()
Public Member Functions inherited from icarus::AdaptiveIntegrator< Scalar >
bool	IsAdaptive () const override
	Check if integrator supports adaptive stepping.
Public Member Functions inherited from icarus::Integrator< Scalar >
virtual	~Integrator ()=default

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

Detailed Description

template<typename Scalar>
class icarus::RK45Integrator< Scalar >

Adaptive Dormand-Prince RK4(5) integrator.

Uses embedded 4th and 5th order solutions to estimate local truncation error. Adjusts step size to maintain error within tolerance.

Features:

7 function evaluations per step (shares stages)
Automatic step size control
Configurable absolute and relative tolerances
Step statistics tracking

Template Parameters

Scalar Numeric type (double or casadi::MX)

Constructor & Destructor Documentation

◆ RK45Integrator()

template<typename Scalar>

icarus::RK45Integrator< Scalar >::RK45Integrator	(	Scalar	abs_tol = Scalar{1e-6},
		Scalar	rel_tol = Scalar{1e-6} )

inlineexplicit

Construct with default tolerances.

Parameters

abs_tol	Absolute tolerance (default 1e-6)
rel_tol	Relative tolerance (default 1e-6)

Member Function Documentation

◆ AdaptiveStep()

template<typename Scalar>

AdaptiveStepResult< Scalar > icarus::RK45Integrator< Scalar >::AdaptiveStep	(	const DerivativeFunc &	f,
		const JanusVector< Scalar > &	x,
		Scalar	t,
		Scalar	dt )

inlineoverridevirtual

Adaptive step with automatic error control.

Performs RK45 steps with automatic step size reduction when error exceeds tolerance. Retries with progressively smaller dt until the step is accepted or dt falls below min_dt.

Parameters

f	Derivative function
x	Current state
t	Current time
dt	Requested step size (may be reduced internally)

Returns: Result with final state, actual dt used, error, and acceptance flag

Exceptions

StepSizeTooSmallError if dt reduces below min_dt without success

Implements icarus::AdaptiveIntegrator< Scalar >.

◆ GetAbsTol()

template<typename Scalar>

Scalar icarus::RK45Integrator< Scalar >::GetAbsTol ( ) const

inlinenodiscardoverridevirtual

Get current absolute tolerance.

Implements icarus::AdaptiveIntegrator< Scalar >.

◆ GetMaxDt()

template<typename Scalar>

Scalar icarus::RK45Integrator< Scalar >::GetMaxDt ( ) const

inlinenodiscard

◆ GetMinDt()

template<typename Scalar>

Scalar icarus::RK45Integrator< Scalar >::GetMinDt ( ) const

inlinenodiscard

◆ GetRelTol()

template<typename Scalar>

Scalar icarus::RK45Integrator< Scalar >::GetRelTol ( ) const

inlinenodiscardoverridevirtual

Get current relative tolerance.

Implements icarus::AdaptiveIntegrator< Scalar >.

◆ GetStatistics()

template<typename Scalar>

const Statistics & icarus::RK45Integrator< Scalar >::GetStatistics ( ) const

inlinenodiscard

◆ Name()

template<typename Scalar>

std::string icarus::RK45Integrator< Scalar >::Name ( ) const

inlinenodiscardoverridevirtual

Get integrator name for logging.

Implements icarus::Integrator< Scalar >.

◆ Order()

template<typename Scalar>

int icarus::RK45Integrator< Scalar >::Order ( ) const

inlinenodiscardoverridevirtual

Get integrator order (for error analysis).

Implements icarus::Integrator< Scalar >.

◆ ResetStatistics()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::ResetStatistics ( )

inline

◆ SetAbsTol()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::SetAbsTol ( Scalar tol )

inlineoverridevirtual

Set absolute tolerance.

Implements icarus::AdaptiveIntegrator< Scalar >.

◆ SetMaxDt()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::SetMaxDt ( Scalar max_dt )

inline

◆ SetMinDt()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::SetMinDt ( Scalar min_dt )

inline

◆ SetRelTol()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::SetRelTol ( Scalar tol )

inlineoverridevirtual

Set relative tolerance.

Implements icarus::AdaptiveIntegrator< Scalar >.

◆ SetSafetyFactor()

template<typename Scalar>

void icarus::RK45Integrator< Scalar >::SetSafetyFactor ( Scalar factor )

inline

◆ Step()

template<typename Scalar>

JanusVector< Scalar > icarus::RK45Integrator< Scalar >::Step	(	const DerivativeFunc &	f,
		const JanusVector< Scalar > &	x,
		Scalar	t,
		Scalar	dt )

inlineoverridevirtual

Fixed-step interface (uses requested dt directly).

For compatibility with base Integrator interface. No step adaptation; returns 5th-order solution.

Implements icarus::Integrator< Scalar >.

◆ SuggestDt()

template<typename Scalar>

Scalar icarus::RK45Integrator< Scalar >::SuggestDt	(	Scalar	dt,
		Scalar	error,
		Scalar	tol ) const

inlinenodiscard

Suggest next step size based on error.

Parameters

dt	Current step size
error	Current error estimate
tol	Error tolerance

Returns: Suggested step size for next step

◆ Type()

template<typename Scalar>

IntegratorType icarus::RK45Integrator< Scalar >::Type ( ) const

inlinenodiscardoverridevirtual

Get integrator type.

Implements icarus::Integrator< Scalar >.

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

include/icarus/sim/integrators/RK45Integrator.hpp

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RK45Integrator()

Member Function Documentation

◆ AdaptiveStep()

◆ GetAbsTol()

◆ GetMaxDt()

◆ GetMinDt()

◆ GetRelTol()

◆ GetStatistics()

◆ Name()

◆ Order()

◆ ResetStatistics()

◆ SetAbsTol()

◆ SetMaxDt()

◆ SetMinDt()

◆ SetRelTol()

◆ SetSafetyFactor()

◆ Step()

◆ SuggestDt()

◆ Type()