00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00027 00034 #ifndef ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA78_HPP 00035 #define ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA78_HPP 00036 00037 00038 #include <acado/integrator/integrator_fwd.hpp> 00039 00040 00041 BEGIN_NAMESPACE_ACADO 00042 00043 00054 class IntegratorRK78 : public IntegratorRK{ 00055 00056 00057 // 00058 // PUBLIC MEMBER FUNCTIONS: 00059 // 00060 00061 public: 00062 00064 IntegratorRK78( ); 00065 00067 IntegratorRK78( const DifferentialEquation &rhs_ ); 00068 00070 IntegratorRK78( const IntegratorRK78& arg ); 00071 00073 virtual ~IntegratorRK78( ); 00074 00076 virtual IntegratorRK78& operator=( const IntegratorRK78& arg ); 00077 00079 virtual Integrator* clone() const; 00080 00081 00082 protected: 00083 00085 virtual void initializeButcherTableau(); 00086 00087 }; 00088 00089 00090 CLOSE_NAMESPACE_ACADO 00091 00092 00093 00094 #include <acado/integrator/integrator_runge_kutta78.ipp> 00095 00096 00097 #endif // ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA78_HPP 00098 00099 // end of file.