icarus::RK4Integrator< Scalar > Class Template Reference

Classic 4th-order Runge-Kutta integrator. More...

#include <RK4Integrator.hpp>

Inheritance diagram for icarus::RK4Integrator< Scalar >:

Collaboration diagram for icarus::RK4Integrator< Scalar >:

Public Member Functions
JanusVector< Scalar >	Step (const DerivativeFunc &f, const JanusVector< Scalar > &x, Scalar t, Scalar dt) override
	Advance state by one step.
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.
Public Member Functions inherited from icarus::Integrator< Scalar >
virtual	~Integrator ()=default
virtual bool	IsAdaptive () const
	Check if integrator supports adaptive stepping.

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

Detailed Description

template<typename Scalar>
class icarus::RK4Integrator< Scalar >

Classic 4th-order Runge-Kutta integrator.

Fixed-step method with 4 function evaluations per step. Wraps janus::rk4_step() for dual-mode compatibility.

Butcher Tableau:

k₁ = f(t, x)
k₂ = f(t + dt/2, x + dt/2·k₁)
k₃ = f(t + dt/2, x + dt/2·k₂)
k₄ = f(t + dt, x + dt·k₃)
x_{n+1} = x + (dt/6)(k₁ + 2k₂ + 2k₃ + k₄)

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Member Function Documentation

Name()

template<typename Scalar>

std::string icarus::RK4Integrator< Scalar >::Name ( ) const

inlinenodiscardoverridevirtual

Get integrator name for logging.

Implements icarus::Integrator< Scalar >.

Order()

template<typename Scalar>

int icarus::RK4Integrator< Scalar >::Order ( ) const

inlinenodiscardoverridevirtual

Get integrator order (for error analysis).

Implements icarus::Integrator< Scalar >.

Step()

template<typename Scalar>

JanusVector< Scalar > icarus::RK4Integrator< Scalar >::Step ( const DerivativeFunc & f, const JanusVector< Scalar > & x, Scalar t, Scalar dt )

inlineoverridevirtual

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

Implements icarus::Integrator< Scalar >.

Type()

template<typename Scalar>

IntegratorType icarus::RK4Integrator< Scalar >::Type ( ) const

inlinenodiscardoverridevirtual

Get integrator type.

Implements icarus::Integrator< Scalar >.

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

• include/icarus/sim/integrators/RK4Integrator.hpp