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 >:

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Public Member Functions
virtual const std::string &	getClassName (void) const

	IntegratorEuler (const std::string &name)

virtual	~IntegratorEuler (void)

sigT &	integrate (sigT &res, int time)

sigT &	derivative (sigT &res, int time)

void	setSamplingPeriod (const double &period)

double	getSamplingPeriod () const

void	initialize ()

Public Member Functions inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
	IntegratorAbstract (const std::string &name)

virtual	~IntegratorAbstract ()

void	pushNumCoef (const coefT &numCoef)

void	pushDenomCoef (const coefT &denomCoef)

void	popNumCoef ()

void	popDenomCoef ()

const std::vector< coefT > &	numCoeffs () const

void	numCoeffs (const std::vector< coefT > &coeffs)

const std::vector< coefT > &	denomCoeffs () const

void	denomCoeffs (const std::vector< coefT > &coeffs)

virtual void	display (std::ostream &os) const

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

dynamicgraph::SignalTimeDependent< sigT, int >	derivativeSOUT

double	dt

double	invdt

Protected Attributes inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
std::vector< coefT >	numerator

std::vector< coefT >	denominator

Additional Inherited Members
Public Attributes inherited from dynamicgraph::sot::IntegratorAbstract< sigT, coefT >
dynamicgraph::SignalPtr< sigT, int >	SIN

dynamicgraph::SignalTimeDependent< sigT, int >	SOUT

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.