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Runge Kutta 4 ode solver See http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods. More...
#include <SurgSim/Math/OdeSolverRungeKutta4.h>
Classes | |
struct | RungeKuttaDerivedState |
Internal structure to hold the 4 temporary evaluations. More... | |
Public Member Functions | |
OdeSolverRungeKutta4 (OdeEquation *equation) | |
Constructor. More... | |
virtual void | solve (double dt, const OdeState ¤tState, OdeState *newState) override |
Solves the equation. More... | |
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OdeSolver (OdeEquation *equation) | |
Constructor. More... | |
virtual | ~OdeSolver () |
Virtual destructor. More... | |
const std::string | getName () const |
Gets the solver's name. More... | |
void | setLinearSolver (std::shared_ptr< LinearSolveAndInverse > linearSolver) |
Sets the specialized linear solver to use with this Ode solver. More... | |
std::shared_ptr< LinearSolveAndInverse > | getLinearSolver () const |
Gets the specialized linear solver used with this Ode solver. More... | |
const Matrix & | getSystemMatrix () const |
Queries the current system matrix. More... | |
const Matrix & | getCompliance () const |
Queries the current compliance matrix. More... | |
Protected Attributes | |
Vector | m_force |
Temporary vectors to store the 4 intermediates evaluations. More... | |
RungeKuttaDerivedState | m_k1 |
Runge kutta 4 intermediate system evaluations. More... | |
RungeKuttaDerivedState | m_k2 |
RungeKuttaDerivedState | m_k3 |
RungeKuttaDerivedState | m_k4 |
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std::string | m_name |
Name for this solver. More... | |
OdeEquation & | m_equation |
The ode equation (API providing the necessary evaluation methods and the initial state) More... | |
std::shared_ptr< LinearSolveAndInverse > | m_linearSolver |
The specialized linear solver to use when solving the ode equation. More... | |
Matrix | m_systemMatrix |
System matrix (can be M, K, combination of MDK depending on the solver) A static solver will have K for system matrix A dynamic explicit solver will have M for system matrix A dynamic implicit solver will have a combination of M, D and K for system matrix. More... | |
Matrix | m_compliance |
Compliance matrix which is the inverse of the system matrix. More... | |
Additional Inherited Members | |
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void | allocate (size_t size) |
Allocates the system and compliance matrices. More... | |
Runge Kutta 4 ode solver See http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods.
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explicit |
Constructor.
equation | The ode equation to be solved |
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overridevirtual |
Solves the equation.
dt | The time step | |
currentState | State at time t | |
[out] | newState | State at time t+dt |
Implements SurgSim::Math::OdeSolver.
Reimplemented in SurgSim::Math::OdeSolverLinearRungeKutta4.
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protected |
Temporary vectors to store the 4 intermediates evaluations.
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protected |
Runge kutta 4 intermediate system evaluations.
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protected |
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