icarus::IntegratorConfig< Scalar > Struct Template Reference

Configuration for integrator creation. More...

#include <IntegratorTypes.hpp>

Static Public Member Functions
static IntegratorConfig	RK4Default ()
	Create default RK4 config.
static IntegratorConfig	RK45Adaptive (Scalar abs_tol_val=Scalar{1e-6}, Scalar rel_tol_val=Scalar{1e-6})
	Create adaptive RK45 config with tolerances.
static IntegratorConfig	ForMethod (IntegratorType method)
	Create config for specified method.

Public Attributes
IntegratorType	type = IntegratorType::RK4
	Method to use.
Scalar	abs_tol = Scalar{1e-6}
	Absolute tolerance.
Scalar	rel_tol = Scalar{1e-6}
	Relative tolerance.
Scalar	min_dt = Scalar{1e-10}
	Minimum step size.
Scalar	max_dt = Scalar{1.0}
	Maximum step size.
Scalar	safety_factor = Scalar{0.9}
	Step size safety factor.

Detailed Description

template<typename Scalar>
struct icarus::IntegratorConfig< Scalar >

Configuration for integrator creation.

Supports both fixed-step and adaptive integrators.

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Member Function Documentation

ForMethod()

template<typename Scalar>

IntegratorConfig icarus::IntegratorConfig< Scalar >::ForMethod ( IntegratorType method )

inlinestatic

Create config for specified method.

RK45Adaptive()

template<typename Scalar>

IntegratorConfig icarus::IntegratorConfig< Scalar >::RK45Adaptive ( Scalar abs_tol_val = Scalar{1e-6}, Scalar rel_tol_val = Scalar{1e-6} )

inlinestatic

Create adaptive RK45 config with tolerances.

RK4Default()

template<typename Scalar>

IntegratorConfig icarus::IntegratorConfig< Scalar >::RK4Default ( )

inlinestatic

Create default RK4 config.

Member Data Documentation

abs_tol

template<typename Scalar>

Scalar icarus::IntegratorConfig< Scalar >::abs_tol = Scalar{1e-6}

Absolute tolerance.

max_dt

template<typename Scalar>

Scalar icarus::IntegratorConfig< Scalar >::max_dt = Scalar{1.0}

Maximum step size.

min_dt

template<typename Scalar>

Scalar icarus::IntegratorConfig< Scalar >::min_dt = Scalar{1e-10}

Minimum step size.

rel_tol

template<typename Scalar>

Scalar icarus::IntegratorConfig< Scalar >::rel_tol = Scalar{1e-6}

Relative tolerance.

safety_factor

template<typename Scalar>

Scalar icarus::IntegratorConfig< Scalar >::safety_factor = Scalar{0.9}

Step size safety factor.

type

template<typename Scalar>

IntegratorType icarus::IntegratorConfig< Scalar >::type = IntegratorType::RK4

Method to use.

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

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