RK4_SIM Class Reference

#include <RK4Integrator.hpp>

Inheritance diagram for RK4_SIM:

Public Member Functions
	RK4_SIM (int _plant_order, int _ctrl_order, double _integration_step=0.0001, double _initial_time=0.0, double *_initial_state=NULL)
virtual	~RK4_SIM ()
void	init_param (double _integration_step, double _initial_time, double *_initial_state)
void	solve (void)
virtual void	DERIV (const double t, const double *x, const double *u, double *xdot)

Public Attributes
std::vector< double >	plant_state
std::vector< double >	ctrl_input
double	current_time
int	rk4_sim_err

Protected Attributes
int	plant_order
int	ctrl_order
double	integration_step

Constructor & Destructor Documentation

RK4_SIM::RK4_SIM	(	int	_plant_order,
		int	_ctrl_order,
		double	_integration_step = 0.0001,
		double	_initial_time = 0.0,
		double *	_initial_state = NULL
	)

RK4_SIM::~RK4_SIM ( )

virtual

Member Function Documentation

virtual void RK4_SIM::DERIV ( const double  t, const double *  x, const double *  u, double *  xdot  )

inlinevirtual

Reimplemented in SimpleIntegrator.

void RK4_SIM::init_param	(	double	_integration_step,
		double	_initial_time,
		double *	_initial_state
	)

void RK4_SIM::solve

(

void

)

Member Data Documentation

std::vector<double> RK4_SIM::ctrl_input

int RK4_SIM::ctrl_order

protected

double RK4_SIM::current_time

double RK4_SIM::integration_step

protected

int RK4_SIM::plant_order

protected

std::vector<double> RK4_SIM::plant_state

int RK4_SIM::rk4_sim_err

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The documentation for this class was generated from the following files:

• /home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/control/motor_controller/src/RK4Integrator.hpp
• /home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/control/motor_controller/src/RK4Integrator.cpp