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16 #ifndef SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H
17 #define SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H
62 void solve(
double dt,
const OdeState& currentState,
OdeState* newState,
bool computeCompliance =
true)
override;
66 bool computeRHS =
true)
override;
87 #endif // SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H
Internal structure to hold the 4 temporary evaluations.
Definition: OdeSolverRungeKutta4.h:69
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
RungeKuttaDerivedState m_k4
Definition: OdeSolverRungeKutta4.h:79
Vector acceleration
Definition: OdeSolverRungeKutta4.h:74
Definition: CompoundShapeToGraphics.cpp:29
RungeKuttaDerivedState()
Definition: OdeSolverRungeKutta4.h:71
Runge Kutta 4 ode solver (See http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods) solves the fo...
Definition: OdeSolverRungeKutta4.h:55
Vector velocity
Definition: OdeSolverRungeKutta4.h:73
Ode equation of 2nd order of the form with for initial conditions and a set of boundary conditions.
Definition: OdeEquation.h:54
Base class for all solvers of ode equation of order 2 of the form .
Definition: OdeSolver.h:78
void solve(double dt, const OdeState ¤tState, OdeState *newState, bool computeCompliance=true) override
Solves the equation.
Definition: OdeSolverRungeKutta4.cpp:31
RungeKuttaDerivedState m_k1
Definition: OdeSolverRungeKutta4.h:79
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
RungeKuttaDerivedState m_k3
Definition: OdeSolverRungeKutta4.h:79
RungeKuttaDerivedState m_k2
Definition: OdeSolverRungeKutta4.h:79
void assembleLinearSystem(double dt, const OdeState &state, const OdeState &newState, bool computeRHS=true) override
Assemble the linear system (A.x=b) to be solved for the state and new states (useful for certain ode ...
Definition: OdeSolverRungeKutta4.cpp:94
OdeSolverRungeKutta4(OdeEquation *equation)
Constructor.
Definition: OdeSolverRungeKutta4.cpp:25
RungeKuttaDerivedState(const Vector &v, const Vector &a)
Definition: OdeSolverRungeKutta4.h:72