4th Order Runge-Kutta Integrator (explicit) More...
#include <explicit_integrators.h>
Inheritance diagram for corbo::IntegratorExplicitRungeKutta4:
Public Member Functions | |
| int | getConvergenceOrder () const override |
| Return the convergence order. More... | |
| DynamicsEvalInterface::Ptr | getInstance () const override |
| Return a newly created shared instance of the implemented class. More... | |
| void | initialize (int state_dim) override |
| Allocate memory for a given state dimension. More... | |
| void | solveIVP (const Eigen::VectorXd &x1, double dt, const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> &fun, Eigen::Ref< Eigen::VectorXd > x2) override |
| void | solveIVP (const StateVector &x1, const InputVector &u1, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > x2) override |
| Solution of the initial value problem. More... | |
 Public Member Functions inherited from corbo::NumericalIntegratorExplicitInterface | |
| void | computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override |
| Compute error between two consecutive (discrete) states. More... | |
| void | computeEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > error) |
| bool | interpolate (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &, const Eigen::Ref< const Eigen::VectorXd > &, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) override |
| virtual void | solveIVP (const Eigen::VectorXd &x1, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > x2)=0 |
| Solution of the initial value problem. More... | |
| virtual | ~NumericalIntegratorExplicitInterface () |
| Virtual destructor. More... | |
| Public Member Functions inherited from corbo::DynamicsEvalInterface | |
| virtual bool | interpolate (const std::vector< const Eigen::VectorXd *> &x, const std::vector< const Eigen::VectorXd *> &u, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) |
| virtual | ~DynamicsEvalInterface () |
| Virtual destructor. More... | |
Private Attributes | |
| Eigen::VectorXd | _k1 |
| Eigen::VectorXd | _k2 |
| Eigen::VectorXd | _k3 |
| Eigen::VectorXd | _k4 |
Additional Inherited Members | |
| Public Types inherited from corbo::NumericalIntegratorExplicitInterface | |
| using | Ptr = std::shared_ptr< NumericalIntegratorExplicitInterface > |
| using | UnaryFunction = const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> |
| using | UPtr = std::unique_ptr< NumericalIntegratorExplicitInterface > |
| Public Types inherited from corbo::DynamicsEvalInterface | |
| using | InputVector = Eigen::VectorXd |
| using | Ptr = std::shared_ptr< DynamicsEvalInterface > |
| using | StateVector = Eigen::VectorXd |
| using | UPtr = std::unique_ptr< DynamicsEvalInterface > |
| Static Public Member Functions inherited from corbo::DynamicsEvalInterface | |
| static Factory< DynamicsEvalInterface > & | getFactory () |
| Get access to the accociated factory. More... | |
Detailed Description
4th Order Runge-Kutta Integrator (explicit)
Also called as classical Runge-Kutta method. Refer to http://en.wikipedia.org/wiki/Runge–Kutta_methods
- See also
- NumericalIntegratorInterface NumericalIntegratorExplicitInterface
Definition at line 244 of file explicit_integrators.h.
Member Function Documentation
◆ getConvergenceOrder()
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inlineoverridevirtual |
Return the convergence order.
Implements corbo::NumericalIntegratorExplicitInterface.
Definition at line 251 of file explicit_integrators.h.
◆ getInstance()
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inlineoverridevirtual |
Return a newly created shared instance of the implemented class.
Implements corbo::NumericalIntegratorExplicitInterface.
Definition at line 248 of file explicit_integrators.h.
◆ initialize()
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inlineoverridevirtual |
Allocate memory for a given state dimension.
- Remarks
- This method is optional and not guaranteed to be called, but if so this might speed up computation.
- Parameters
-
[in] state_dim Expected dimension of the state vector
Reimplemented from corbo::NumericalIntegratorExplicitInterface.
Definition at line 253 of file explicit_integrators.h.
◆ solveIVP() [1/2]
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inlineoverride |
Definition at line 262 of file explicit_integrators.h.
◆ solveIVP() [2/2]
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inlineoverridevirtual |
Solution of the initial value problem.
![\[ x(t=\Delta T) = \int_{t=0}^{t=\Delta T} f(x(t), u_1) dt \]](form_251.png)
with $ x(t=0) = x_1 $.
- Parameters
-
[in] x1 Initial state vector [SystemDynamicsInterface::getStateDimension() x 1] [in] u1 Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1] [in] dt Time interval length [in] system System dynamics object [out] x2 Resulting state vector [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)
Implements corbo::NumericalIntegratorExplicitInterface.
Definition at line 280 of file explicit_integrators.h.
Member Data Documentation
◆ _k1
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private |
Definition at line 307 of file explicit_integrators.h.
◆ _k2
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private |
Definition at line 308 of file explicit_integrators.h.
◆ _k3
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private |
Definition at line 309 of file explicit_integrators.h.
◆ _k4
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private |
Definition at line 310 of file explicit_integrators.h.
The documentation for this class was generated from the following file: