dynamicgraph::sot::IntegratorEuler< sigT, coefT > Class Template Reference

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 <sot/core/integrator-euler.hh>

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

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	IntegratorEuler (const std::string &name)
virtual	~IntegratorEuler (void)
sigT &	integrate (sigT &res, int time)
Static Public Member Functions
static std::string	getTypeName (void)
Static Public Attributes
static const std::string	CLASS_NAME
Protected Attributes
std::vector< sigT >	inputMemory
std::vector< sigT >	outputMemory

---

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.

---

Constructor & Destructor Documentation

template<class sigT , class coefT >

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

(

const std::string &

name

)

[inline]

References dynamicgraph::SignalTimeDependent< T, Time >::addDependency(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN, and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT.

template<class sigT , class coefT >

virtual dynamicgraph::sot::IntegratorEuler< sigT, coefT >::~IntegratorEuler

(

void

)

[inline, virtual]

---

Member Function Documentation

template<class sigT , class coefT >

virtual const std::string& dynamicgraph::sot::IntegratorEuler< sigT, coefT >::getClassName

(

void

)

const [inline, virtual]

Reimplemented from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >.

template<class sigT , class coefT >

static std::string dynamicgraph::sot::IntegratorEuler< sigT, coefT >::getTypeName

(

void

)

[inline, static]

Reimplemented from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >.

template<class sigT , class coefT >

sigT& dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate	(	sigT &	res,
		int	time
	)		[inline, virtual]

Implements dynamicgraph::sot::IntegratorAbstract< sigT, coefT >.

References dynamicgraph::SignalPtr< class, class >::access(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator, dynamicgraph::sot::IntegratorEuler< sigT, coefT >::inputMemory, dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator, dynamicgraph::sot::IntegratorEuler< sigT, coefT >::outputMemory, dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN, and sotDEBUG.

---

Member Data Documentation

template<class sigT , class coefT >

const std::string dynamicgraph::sot::IntegratorEuler< sigT, coefT >::CLASS_NAME [static]

Reimplemented from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >.

template<class sigT , class coefT >

std::vector<sigT> dynamicgraph::sot::IntegratorEuler< sigT, coefT >::inputMemory [protected]

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate().

template<class sigT , class coefT >

std::vector<sigT> dynamicgraph::sot::IntegratorEuler< sigT, coefT >::outputMemory [protected]

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate().