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 ()

Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)

virtual	~Entity ()

const std::string &	getName () const

virtual std::string	getDocString () const

bool	hasSignal (const std::string &signame) const

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

std::ostream &	displaySignalList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual std::ostream &	writeCompletionList (std::ostream &os) const

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

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

const std::string &	getCommandList () const

CommandMap_t	getNewStyleCommandMap ()

command::Command *	getNewStyleCommand (const std::string &cmdName)

SignalMap	getSignalMap () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

LoggerVerbosity	getLoggerVerbosityLevel ()

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

dg::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

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Logger	logger_

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap

typedef std::map< const std::string, command::Command * >	CommandMap_t

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

dg::SignalTimeDependent< sigT, int >	SOUT

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityRegistration ()

void	entityDeregistration ()

void	signalRegistration (const SignalArray< int > &signals)

void	signalDeregistration (const std::string &name)

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.