integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator. More...

#include <integrator-euler.hh>

Inheritance diagram for dynamicgraph::sot::IntegratorEuler< sigT, coefT >:

[legend]

Public Member Functions
sigT &	derivative (sigT &res, sigtime_t time)

virtual const std::string &	getClassName (void) const

double	getSamplingPeriod () const

void	initialize ()

sigT &	integrate (sigT &res, sigtime_t time)

	IntegratorEuler (const std::string &name)

void	setSamplingPeriod (const double &period)

virtual	~IntegratorEuler (void)

Public Member Functions inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
const std::vector< coefT > &	denomCoeffs () const

void	denomCoeffs (const std::vector< coefT > &coeffs)

virtual void	display (std::ostream &os) const

	IntegratorAbstract (const std::string &name)

const std::vector< coefT > &	numCoeffs () const

void	numCoeffs (const std::vector< coefT > &coeffs)

void	popDenomCoef ()

void	popNumCoef ()

void	pushDenomCoef (const coefT &denomCoef)

void	pushNumCoef (const coefT &numCoef)

virtual	~IntegratorAbstract ()

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Static Public Member Functions
static std::string	getTypeName (void)

Static Public Attributes
static const std::string	CLASS_NAME

Protected Attributes
dynamicgraph::SignalTimeDependent< sigT, sigtime_t >	derivativeSOUT

double	dt

std::vector< sigT >	inputMemory

double	invdt

std::vector< sigT >	outputMemory

Protected Attributes inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
std::vector< coefT >	denominator

std::vector< coefT >	numerator

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Public Attributes inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
dynamicgraph::SignalPtr< sigT, sigtime_t >	SIN

dynamicgraph::SignalTimeDependent< sigT, sigtime_t >	SOUT

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Detailed Description

template<class sigT, class coefT>
class dynamicgraph::sot::IntegratorEuler< sigT, coefT >

integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator.

Definition at line 51 of file integrator-euler.hh.