16 #ifndef SURGSIM_MATH_ODEEQUATION_H 17 #define SURGSIM_MATH_ODEEQUATION_H 95 #endif // SURGSIM_MATH_ODEEQUATION_H Definition: DriveElementFromInputBehavior.cpp:27
virtual ~OdeEquation()
Virtual destructor.
Definition: OdeEquation.h:44
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
virtual const Matrix & computeD(const OdeState &state)=0
Evaluation of D = -df/dv (x,v) for a given state.
Ode equation of 2nd order of the form M(x,v).a = F(x, v) with (x0, v0) for initial conditions and a s...
Definition: OdeEquation.h:40
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
virtual void computeFMDK(const OdeState &state, Vector **f, Matrix **M, Matrix **D, Matrix **K)=0
Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed...
virtual const Matrix & computeK(const OdeState &state)=0
Evaluation of K = -df/dx (x,v) for a given state.
virtual const Matrix & computeM(const OdeState &state)=0
Evaluation of the LHS matrix M(x,v) for a given state.
virtual Vector & computeF(const OdeState &state)=0
Evaluation of the RHS function f(x,v) for a given state.
Definitions of small fixed-size square matrix types.
Definitions of small fixed-size vector types.
const std::shared_ptr< OdeState > getInitialState() const
Retrieves the ode initial conditions (x0, v0) (i.e.
Definition: OdeEquation.cpp:25
std::shared_ptr< OdeState > m_initialState
The initial state (which defines the ODE initial conditions (x0, v0))
Definition: OdeEquation.h:88