clockwerk::RK4Integrator< T, N > Class Template Reference

Inheritance diagram for clockwerk::RK4Integrator< T, N >:

Collaboration diagram for clockwerk::RK4Integrator< T, N >:

Public Member Functions
	RK4Integrator (Rates< T, N > &rate_calculator)
void	step (T start_time, T end_time, const std::array< T, N > &start_state, std::array< T, N > &out_state)
	Function to take a full integrator step forward from time start to time end.
void	configureForStep (T start_time, T end_time, const std::array< T, N > &start_state)
	Function to configure a full integration step.
void	calculateK1 (std::array< T, N > &state_for_k2)
	Function to calculate k1.
void	calculateK2 (const std::array< T, N > &state_in_k2, std::array< T, N > &state_for_k3)
	Function to calculate k2.
void	calculateK3 (const std::array< T, N > &state_in_k2, std::array< T, N > &state_for_k4)
	Function to calculate k3.
void	calculateK4 (const std::array< T, N > &state_in_k4)
	Function to calculate k4.
void	getValueEndStep (std::array< T, N > &end_state)
	Calculation of final integrated step at the end of state.

Protected Attributes
T	_full_step_size
	Step size for integrator.
T	_half_step_size
T	_step_average
T	_start_time
	Initial state tracking.
T	_end_time
std::array< T, N >	_start_state
std::array< T, N >	_k1
	RK4 step rate values k1, k2, k3, k4 and var to calc average rate.
std::array< T, N >	_k2
std::array< T, N >	_k3
std::array< T, N >	_k4
Rates< T, N > &	_rate_calculator
	Reference to dynamics object that calculates rates.

Member Function Documentation

calculateK1()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::calculateK1

(

std::array< T, N > &

state_for_k2

)

Function to calculate k1.

Parameters

state_for_k2

The integrated state to be used in the calculation of k2

calculateK2()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::calculateK2	(	const std::array< T, N > &	state_in_k2,
		std::array< T, N > &	state_for_k3
	)

Function to calculate k2.

Parameters

state_in_k2	The state input to calculate k2
state_for_k3	The integrated state to be used in the calculation of k3

calculateK3()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::calculateK3	(	const std::array< T, N > &	state_in_k2,
		std::array< T, N > &	state_for_k4
	)

Function to calculate k3.

Parameters

state_in_k3	The state input to calculate k3
state_for_k4	The integrated state to be used in the calculation of k4

calculateK4()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::calculateK4

(

const std::array< T, N > &

state_in_k4

)

Function to calculate k4.

Parameters

state_in_k4

The state input to calculate k4

configureForStep()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::configureForStep	(	T	start_time,
		T	end_time,
		const std::array< T, N > &	start_state
	)

Function to configure a full integration step.

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Functions for manual RK4 control – calling these individually allows a downstream user to manually control RK4 steps. Each is executed in order

for a full step

Parameters

start_time	Start time for the full integration step
end_time	End time for the full integration step
start_state	State at start of integration

getValueEndStep()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::getValueEndStep

(

std::array< T, N > &

end_state

)

Calculation of final integrated step at the end of state.

Parameters

end_state

State at the end of step

step()

template<typename T , unsigned int N>

void clockwerk::RK4Integrator< T, N >::step ( T  start_time, T  end_time, const std::array< T, N > &  start_state, std::array< T, N > &  out_state  )

virtual

Function to take a full integrator step forward from time start to time end.

Parameters

start_time	Start time for integration
end_time	End time for integration
start_state	State at start of integration
out_state	Output state via implicit – result of integration

Reimplemented from clockwerk::Integrator< T, N >.

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

• /home/mickey/modelspace/clockwerk/src/utils/RK4Integrator.hpp