Static ode solver.
More...
#include <SurgSim/Math/OdeSolverStatic.h>
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void | allocate (size_t size) |
| Allocates the system and compliance matrices. More...
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std::string | m_name |
| Name for this solver. More...
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OdeEquation & | m_equation |
| The ode equation (API providing the necessary evaluation methods and the initial state) More...
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std::shared_ptr< LinearSolveAndInverse > | m_linearSolver |
| The specialized linear solver to use when solving the ode equation. More...
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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...
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Matrix | m_compliance |
| Compliance matrix which is the inverse of the system matrix. More...
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Static ode solver.
- Note
- M(x(t), v(t)).a(t) = f(t, x(t), v(t))
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This ode equation is solved w.r.t. x, by discarding all time derived variables (i.e. v, a)
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reducing the equation to solve to:
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0 = f(t, x(t)) = Fext + Fint(t, x(t)) = Fext - K.(x - x0)
SurgSim::Math::OdeSolverStatic::OdeSolverStatic |
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OdeEquation * |
equation | ) |
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explicit |
Constructor.
- Parameters
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equation | The ode equation to be solved |
void SurgSim::Math::OdeSolverStatic::solve |
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double |
dt, |
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const OdeState & |
currentState, |
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OdeState * |
newState |
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) |
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overridevirtual |
The documentation for this class was generated from the following files: