#include <RK4Integrator.hpp>

Inheritance diagram for warpos::RK4Integrator< N >:

Public Member Functions
	RK4Integrator (Rates< N > &rate_calculator)
int16	step (floating_point start_time, floating_point end_time, const std::array< floating_point, N > &start_state, std::array< floating_point, N > &out_state) override
void	configureForStep (floating_point start_time, floating_point end_time, const std::array< floating_point, N > &start_state)
	Function to configure a full integration step.
int16	calculateK1 (std::array< floating_point, N > &state_for_k2)
	Function to calculate k1.
int16	calculateK2 (const std::array< floating_point, N > &state_in_k2, std::array< floating_point, N > &state_for_k3)
	Function to calculate k2.
int16	calculateK3 (const std::array< floating_point, N > &state_in_k2, std::array< floating_point, N > &state_for_k4)
	Function to calculate k3.
int16	calculateK4 (const std::array< floating_point, N > &state_in_k4)
	Function to calculate k4.
void	getValueEndStep (std::array< floating_point, N > &end_state)
	Calculation of final integrated step at the end of state.
Public Member Functions inherited from warpos::Integrator< N >
	Integrator (Rates< N > &rate_calculator)
	Constructor for the integrator.

Protected Attributes
floating_point	_full_step_size = 1.0
	Step size for integrator.
floating_point	_half_step_size = 0.5
floating_point	_step_average
floating_point	_start_time
	Initial state tracking.
floating_point	_end_time
std::array< floating_point, N >	_start_state
std::array< floating_point, N >	_k1
	RK4 step rate values k1, k2, k3, k4 and var to calc average rate.
std::array< floating_point, N >	_k2
std::array< floating_point, N >	_k3
std::array< floating_point, N >	_k4
int16	_error = 0
	Error code.
int16	_saved_warning = 0
Protected Attributes inherited from warpos::Integrator< N >
Rates< N > &	_rate_calculator
	Reference to dynamics object that calculates rates.

Constructor & Destructor Documentation

◆ RK4Integrator()

template<uint32 N>

warpos::RK4Integrator< N >::RK4Integrator ( Rates< N > & rate_calculator )

Member Function Documentation

◆ calculateK1()

template<uint32 N>

int16 warpos::RK4Integrator< N >::calculateK1 ( std::array< floating_point, N > & state_for_k2 )

Function to calculate k1.

Parameters

state_for_k2 The integrated state to be used in the calculation of k2

Returns: Error code describing success/failure

◆ calculateK2()

template<uint32 N>

int16 warpos::RK4Integrator< N >::calculateK2	(	const std::array< floating_point, N > &	state_in_k2,
		std::array< floating_point, 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

Returns: Error code describing success/failure

◆ calculateK3()

template<uint32 N>

int16 warpos::RK4Integrator< N >::calculateK3	(	const std::array< floating_point, N > &	state_in_k2,
		std::array< floating_point, 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

Returns: Error code describing success/failure

◆ calculateK4()

template<uint32 N>

int16 warpos::RK4Integrator< N >::calculateK4 ( const std::array< floating_point, N > & state_in_k4 )

Function to calculate k4.

Parameters

state_in_k4 The state input to calculate k4

Returns: Error code describing success/failure

◆ configureForStep()

template<uint32 N>

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

Function to configure a full integration step.

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<uint32 N>

void warpos::RK4Integrator< N >::getValueEndStep ( std::array< floating_point, N > & end_state )

Calculation of final integrated step at the end of state.

Parameters

end_state State at the end of step

◆ step()

template<uint32 N>

int16 warpos::RK4Integrator< N >::step	(	floating_point	start_time,
		floating_point	end_time,
		const std::array< floating_point, N > &	start_state,
		std::array< floating_point, N > &	out_state )

overridevirtual

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 warpos::Integrator< N >.

Member Data Documentation

◆ _end_time

template<uint32 N>

floating_point warpos::RK4Integrator< N >::_end_time

protected

◆ _error

template<uint32 N>

int16 warpos::RK4Integrator< N >::_error = 0

protected

Error code.

◆ _full_step_size

template<uint32 N>

floating_point warpos::RK4Integrator< N >::_full_step_size = 1.0

protected

Step size for integrator.

◆ _half_step_size

template<uint32 N>

floating_point warpos::RK4Integrator< N >::_half_step_size = 0.5

protected

◆ _k1

template<uint32 N>

std::array<floating_point, N> warpos::RK4Integrator< N >::_k1

protected

RK4 step rate values k1, k2, k3, k4 and var to calc average rate.

◆ _k2

template<uint32 N>

std::array<floating_point, N> warpos::RK4Integrator< N >::_k2

protected

◆ _k3

template<uint32 N>

std::array<floating_point, N> warpos::RK4Integrator< N >::_k3

protected

◆ _k4

template<uint32 N>

std::array<floating_point, N> warpos::RK4Integrator< N >::_k4

protected

◆ _saved_warning

template<uint32 N>

int16 warpos::RK4Integrator< N >::_saved_warning = 0

protected

◆ _start_state

template<uint32 N>

std::array<floating_point, N> warpos::RK4Integrator< N >::_start_state

protected

◆ _start_time

template<uint32 N>

floating_point warpos::RK4Integrator< N >::_start_time

protected

Initial state tracking.

◆ _step_average

template<uint32 N>

floating_point warpos::RK4Integrator< N >::_step_average

protected

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

/Users/mickey/Documents/Projects/warptwin/warpos/src/gncutils/integrator/RK4Integrator.hpp

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ RK4Integrator()

Member Function Documentation

◆ calculateK1()

◆ calculateK2()

◆ calculateK3()

◆ calculateK4()

◆ configureForStep()

for a full step

◆ getValueEndStep()

◆ step()

Member Data Documentation

◆ _end_time

◆ _error

◆ _full_step_size

◆ _half_step_size

◆ _k1

◆ _k2

◆ _k3

◆ _k4

◆ _saved_warning

◆ _start_state

◆ _start_time

◆ _step_average