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animal::OdeSolver< t_Positions, t_Vector, t_Real > Class Template Reference

#include <odeSolver.h>

Inheritance diagram for animal::OdeSolver< t_Positions, t_Vector, t_Real >:

List of all members.

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Detailed Description

template<class t_Positions, class t_Vector, class t_Real>
class animal::OdeSolver< t_Positions, t_Vector, t_Real >

Abstract class for ODE solvers.

Solves an ODE over a time step. Four explicit integration schemes are available. To derive your own ode solver from this class, you must overload the pure virtual method computeAcceleration( Vector&, const Positions&, const Vector&).

Choose the integration scheme using method setMethod( int ) with one of the following parameters:

• 0: explicit Euler
• 1: second-order Runge-Kutta (rk2)
• 2: fourth-order Runge-Kutta (rk3)
• 3: modified midpoint; you can set the number of substeps using method setMMIDsteps( int )

Author:

François Faure, Oct. 2003

Definition at line 23 of file odeSolver.h.

Public Types
typedef t_Positions	Positions
	Vector of positions.
typedef t_Vector	Vector
	velocities, forces, accelerations
typedef t_Real	Real
	time and other scalar values
Public Member Functions
	OdeSolver ()
	Constructor.
virtual	~OdeSolver ()
	Destructor.
virtual void	solveODE (Positions &pos, Vector &vel, Real dt)
	Update positions and velocities by solving an ODE over time step dt.
void	setMethod (int m)
	Set the method.
int	method () const
	Get the method.
void	setMMIDsteps (int n)
	Set the number of internal time steps in the modified midpoint method.
int	MMIDsteps () const
	The number of internal time steps in the modified midpoint method.
Public Attributes
int	_method
	current integration method
int	_MMIDsteps
	Number of substeps in MMID.
Static Public Attributes
const int	EULER = 0
	Symbol of explicit Euler integration.
const int	RK2 = 1
	Symbol of second-order Runge-Kutta integration.
const int	RK4 = 2
	Symbol of fourth-order Runge-Kutta integration.
const int	MODMID = 3
	Symbol of modified midpoint integration.
const int	VVERLET = 4
	Symbol of velocity Verlet integration.
Protected Types
typedef Derivs< Vector, Vector >	Der
	Derivs.
typedef States< Positions, Vector >	Sta
	States.
Protected Member Functions
virtual void	computeAccelerations (Vector &acceleration, const Positions &pos, const Vector &vel)=0
	Compute the acceleration for given positions and velocities.
void	computeDerivative (Der &d, const Sta &s, Real)
	Compute the derivative(velocity, acceleration) of a given state(positions, velocities).
void	euler (Positions &pos, Vector &vel, Real h, Real t=0)
	Apply euler time integration.
void	rk2 (Positions &pos, Vector &vel, Real h, Real t=0)
	Apply second-order Runge-Kutta time integration.
void	rk4 (Positions &pos, Vector &vel, Real h, Real t=0)
	Apply fourth-order Runge-Kutta time integration.
void	modmid (Positions &pos, Vector &vel, Real h, int n, Real t=0)
	Apply modified midpoint time integration.
void	velocityVerlet (Positions &pos, Vector &vel, Real h)
	Apply velocity Verlet time integration.
void	integrate_euler (Sta &s, Real h, Real t, Der &d)
	Perform one Euler integration step: x += h*x'(x).
void	integrate_rk2 (Sta &s, Real h, Real t, Der &d, Sta &s1)
	Perform one second-order Runge-Kutta integration step.
void	integrate_rk4 (Sta &s, Real h, Real t, Der &d1, Der &d2, Der &d3, Der &d4, Sta &s1)
	Perform one fourth-order Runge-Kutta integration step.
void	integrate_modmid (Sta &s, Real h, Real t, int n, Der &d1, Sta &s1, Sta &s2, Sta &s3)
	Perform one modified midpoint integration step.
void	integrate_VVerlet (Sta &s, Real h, Der &d)
Protected Attributes
Vector	dv1
	Auxiliary value to store a derivative (velocity).
Vector	da1
	Auxiliary value to store a derivative (acceleration).
Der	d1
	Auxiliary value to store a derivative (velocity,acceleration).
Vector	dv2
	Auxiliary value to store a derivative (velocity).
Vector	da2
	Auxiliary value to store a derivative (acceleration).
Der	d2
	Auxiliary value to store a derivative (velocity,acceleration).
Vector	dv3
	Auxiliary value to store a derivative (velocity).
Vector	da3
	Auxiliary value to store a derivative (acceleration).
Der	d3
	Auxiliary value to store a derivative (velocity,acceleration).
Vector	dv4
	Auxiliary value to store a derivative (velocity).
Vector	da4
	Auxiliary value to store a derivative (acceleration).
Der	d4
	Auxiliary value to store a derivative (velocity,acceleration).
Positions	sp1
	Auxiliary value to store a state (positions).
Vector	sv1
	Auxiliary value to store a state (velocities).
Sta	s1
	Auxiliary value to store a state (positions, velocities).
Positions	sp2
	Auxiliary value to store a state (positions).
Vector	sv2
	Auxiliary value to store a state (velocities).
Sta	s2
	Auxiliary value to store a state (positions, velocities).
Positions	sp3
	Auxiliary value to store a state (positions).
Vector	sv3
	Auxiliary value to store a state (velocities).
Sta	s3
	Auxiliary value to store a state (positions, velocities).
Vector	velHalf

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Member Typedef Documentation

template<class t_Positions, class t_Vector, class t_Real> typedef Derivs<Vector,Vector> animal::OdeSolver< t_Positions, t_Vector, t_Real >::Der [protected]

Derivs. Definition at line 68 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> typedef t_Positions animal::OdeSolver< t_Positions, t_Vector, t_Real >::Positions

Vector of positions. Reimplemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::OdeImplicitSolver< t_Positions, t_Vector, t_Real >, animal::SimpleSolver< t_Positions, t_Vector, t_InvMasses, t_Real >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >, animal::OdeImplicitSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, value_type< X3DTK::MFFloat >::type >, animal::OdeImplicitSolver< Points, Velocities, value_type< SpringStiffness >::type >, and animal::OdeImplicitSolver< t_Positions, t_Vector, value_type< t_VecReal >::type >. Definition at line 26 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> typedef t_Real animal::OdeSolver< t_Positions, t_Vector, t_Real >::Real

time and other scalar values Reimplemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::OdeImplicitSolver< t_Positions, t_Vector, t_Real >, animal::SimpleSolver< t_Positions, t_Vector, t_InvMasses, t_Real >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >, animal::OdeImplicitSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, value_type< X3DTK::MFFloat >::type >, animal::OdeImplicitSolver< Points, Velocities, value_type< SpringStiffness >::type >, and animal::OdeImplicitSolver< t_Positions, t_Vector, value_type< t_VecReal >::type >. Definition at line 28 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> typedef States<Positions,Vector> animal::OdeSolver< t_Positions, t_Vector, t_Real >::Sta [protected]

States. Definition at line 87 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> typedef t_Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::Vector

velocities, forces, accelerations Reimplemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::OdeImplicitSolver< t_Positions, t_Vector, t_Real >, animal::SimpleSolver< t_Positions, t_Vector, t_InvMasses, t_Real >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >, animal::OdeImplicitSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, value_type< X3DTK::MFFloat >::type >, animal::OdeImplicitSolver< Points, Velocities, value_type< SpringStiffness >::type >, and animal::OdeImplicitSolver< t_Positions, t_Vector, value_type< t_VecReal >::type >. Definition at line 27 of file odeSolver.h.

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Constructor & Destructor Documentation

template<class P, class V, class R> animal::OdeSolver< P, V, R >::OdeSolver (   )

Constructor. Definition at line 14 of file odeSolver.inl.

template<class t_Positions, class t_Vector, class t_Real> virtual animal::OdeSolver< t_Positions, t_Vector, t_Real >::~OdeSolver (   )  [inline, virtual]

Destructor. Definition at line 39 of file odeSolver.h.

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Member Function Documentation

template<class t_Positions, class t_Vector, class t_Real> virtual void animal::OdeSolver< t_Positions, t_Vector, t_Real >::computeAccelerations (  Vector &  acceleration, const Positions &  pos, const Vector &  vel )  [protected, pure virtual]

Compute the acceleration for given positions and velocities. Parameters: acceleration  the result pos  the positions vel  the velocities Implemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::OdeImplicitSolver< t_Positions, t_Vector, t_Real >, animal::SimpleSolver< t_Positions, t_Vector, t_InvMasses, t_Real >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >, animal::OdeImplicitSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, value_type< X3DTK::MFFloat >::type >, animal::OdeImplicitSolver< Points, Velocities, value_type< SpringStiffness >::type >, and animal::OdeImplicitSolver< t_Positions, t_Vector, value_type< t_VecReal >::type >. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::computeDerivative(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_VVerlet().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::computeDerivative (  Der &  d, const Sta &  s, Real  )  [protected]

Compute the derivative(velocity, acceleration) of a given state(positions, velocities). Definition at line 84 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::computeAccelerations(), and animal::v_eq().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::euler (  Positions &  pos, Vector &  vel, Real  h, Real  t = 0 )  [protected]

Apply euler time integration. Class States is a container with entry type equal or compatible with State. Parameters: pos  positions vel  velocities h  time step t  current time Definition at line 102 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_euler(), and animal::size(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::integrate_euler (  Sta &  s, Real  h, Real  t, Der &  d )  [protected]

Perform one Euler integration step: x += h*x'(x). Parameters: s  initial and final state h  time step t  time at the beginning of the time step d  an auxiliary value to store the derivative Auxiliary value need not be initialized, but must have correct size. Definition at line 184 of file odeSolver.inl. References animal::v_eq_euler_step(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::euler().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::integrate_modmid (  Sta &  s, Real  h, Real  t, int  n, Der &  d1, Sta &  s1, Sta &  s2, Sta &  s3 )  [protected]

Perform one modified midpoint integration step. Parameters: s  initial and final state h  time step t  time at the beginning of the time step n  number of substeps d1  an auxiliary value to store the derivative s1  an auxiliary value to store a state s2  an auxiliary value to store a state s3  an auxiliary value to store a state Auxiliary values need not be initialized, but they must have correct size. Definition at line 245 of file odeSolver.inl. References animal::v_eq(), animal::v_eq_ab(), animal::v_eq_euler_step(), and animal::v_peq(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::modmid().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::integrate_rk2 (  Sta &  s, Real  h, Real  t, Der &  d, Sta &  s1 )  [protected]

Perform one second-order Runge-Kutta integration step. Parameters: s  initial and final state h  time step t  time at the beginning of the time step d  an auxiliary value to store the derivative s1  an auxiliary value to store a state Auxiliary values need not be initialized, but they must have correct size. Definition at line 197 of file odeSolver.inl. References animal::v_eq_euler_step(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::rk2().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::integrate_rk4 (  Sta &  s, Real  h, Real  t, Der &  d1, Der &  d2, Der &  d3, Der &  d4, Sta &  s1 )  [protected]

Perform one fourth-order Runge-Kutta integration step. Parameters: s  initial and final state h  time step t  time at the beginning of the time step d1  an auxiliary value to store the derivative d2  an auxiliary value to store the derivative d3  an auxiliary value to store the derivative d4  an auxiliary value to store the derivative s1  an auxiliary value to store a state Auxiliary values need not be initialized, but they must have correct size. Definition at line 214 of file odeSolver.inl. References animal::v_eq_euler_step(), animal::v_peq(), and animal::v_teq(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::rk4().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::integrate_VVerlet (  Sta &  s, Real  h, Der &  d )  [protected]

Definition at line 289 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::computeAccelerations(), animal::v_eq(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::velHalf. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::velocityVerlet().

template<class P, class V, class R> int animal::OdeSolver< P, V, R >::method (   )  const

Get the method. Definition at line 66 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::_method.

template<class t_Positions, class t_Vector, class t_Real> int animal::OdeSolver< t_Positions, t_Vector, t_Real >::MMIDsteps (   )  const [inline]

The number of internal time steps in the modified midpoint method. Definition at line 54 of file odeSolver.h. Referenced by X3DTK::Qt::MassSpringEngineQt::MassSpringEngineQt().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::modmid (  Positions &  pos, Vector &  vel, Real  h, int  n, Real  t = 0 )  [protected]

Apply modified midpoint time integration. Class States is a container with entry type equal or compatible with State. Parameters: pos  positions vel  velocities h  time step n  number of substeps t  current time Definition at line 152 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_modmid(), and animal::size(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::rk2 (  Positions &  pos, Vector &  vel, Real  h, Real  t = 0 )  [protected]

Apply second-order Runge-Kutta time integration. Class States is a container with entry type equal or compatible with State. Parameters: pos  positions vel  velocities h  time step t  current time Definition at line 118 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_rk2(), and animal::size(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::rk4 (  Positions &  pos, Vector &  vel, Real  h, Real  t = 0 )  [protected]

Apply fourth-order Runge-Kutta time integration. Class States is a container with entry type equal or compatible with State. Parameters: pos  positions vel  velocities h  time step t  current time Definition at line 133 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_rk4(), and animal::size(). Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::setMethod (  int  m  )

Set the method. Reimplemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, and animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >. Definition at line 60 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::_method.

template<class t_Positions, class t_Vector, class t_Real> void animal::OdeSolver< t_Positions, t_Vector, t_Real >::setMMIDsteps (  int  n  )  [inline]

Set the number of internal time steps in the modified midpoint method. Definition at line 51 of file odeSolver.h. Referenced by X3DTK::Qt::MassSpringEngineQt::setMmidSubsteps().

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::solveODE (  Positions &  pos, Vector &  vel, Real  dt )  [virtual]

Update positions and velocities by solving an ODE over time step dt. Reimplemented in animal::MassSpringSolver< t_Positions, t_Vector, t_InvMasses, t_VecReal, t_VecIndex >, animal::OdeImplicitSolver< t_Positions, t_Vector, t_Real >, animal::SimpleSolver< t_Positions, t_Vector, t_InvMasses, t_Real >, animal::MassSpringSolver< Points, Velocities, Inv_Masses, SpringStiffness, IndexedSprings >, animal::MassSpringSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, X3DTK::MFFloat, X3DTK::MFFloat, X3DTK::MFInt32 >, animal::OdeImplicitSolver< X3DTK::MFVec3f, X3DTK::MFVec3f, value_type< X3DTK::MFFloat >::type >, animal::OdeImplicitSolver< Points, Velocities, value_type< SpringStiffness >::type >, and animal::OdeImplicitSolver< t_Positions, t_Vector, value_type< t_VecReal >::type >. Definition at line 27 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::_method, animal::OdeSolver< t_Positions, t_Vector, t_Real >::_MMIDsteps, animal::OdeSolver< t_Positions, t_Vector, t_Real >::euler(), animal::OdeSolver< t_Positions, t_Vector, t_Real >::EULER, animal::OdeSolver< t_Positions, t_Vector, t_Real >::modmid(), animal::OdeSolver< t_Positions, t_Vector, t_Real >::MODMID, animal::OdeSolver< t_Positions, t_Vector, t_Real >::rk2(), animal::OdeSolver< t_Positions, t_Vector, t_Real >::RK2, animal::OdeSolver< t_Positions, t_Vector, t_Real >::rk4(), animal::OdeSolver< t_Positions, t_Vector, t_Real >::RK4, animal::OdeSolver< t_Positions, t_Vector, t_Real >::velocityVerlet(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::VVERLET.

template<class P, class V, class R> void animal::OdeSolver< P, V, R >::velocityVerlet (  Positions &  pos, Vector &  vel, Real  h )  [protected]

Apply velocity Verlet time integration. Parameters: pos  positions vel  velocities h  time step t  current time Definition at line 169 of file odeSolver.inl. References animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_VVerlet(), animal::size(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::velHalf. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

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Member Data Documentation

template<class t_Positions, class t_Vector, class t_Real> int animal::OdeSolver< t_Positions, t_Vector, t_Real >::_method

current integration method Definition at line 56 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::method(), animal::OdeSolver< t_Positions, t_Vector, t_Real >::setMethod(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> int animal::OdeSolver< t_Positions, t_Vector, t_Real >::_MMIDsteps

Number of substeps in MMID. Definition at line 57 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> Der animal::OdeSolver< t_Positions, t_Vector, t_Real >::d1 [protected]

Auxiliary value to store a derivative (velocity,acceleration). Definition at line 72 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Der animal::OdeSolver< t_Positions, t_Vector, t_Real >::d2 [protected]

Auxiliary value to store a derivative (velocity,acceleration). Definition at line 76 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Der animal::OdeSolver< t_Positions, t_Vector, t_Real >::d3 [protected]

Auxiliary value to store a derivative (velocity,acceleration). Definition at line 80 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Der animal::OdeSolver< t_Positions, t_Vector, t_Real >::d4 [protected]

Auxiliary value to store a derivative (velocity,acceleration). Definition at line 84 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::da1 [protected]

Auxiliary value to store a derivative (acceleration). Definition at line 71 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::da2 [protected]

Auxiliary value to store a derivative (acceleration). Definition at line 75 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::da3 [protected]

Auxiliary value to store a derivative (acceleration). Definition at line 79 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::da4 [protected]

Auxiliary value to store a derivative (acceleration). Definition at line 83 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::dv1 [protected]

Auxiliary value to store a derivative (velocity). Definition at line 70 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::dv2 [protected]

Auxiliary value to store a derivative (velocity). Definition at line 74 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::dv3 [protected]

Auxiliary value to store a derivative (velocity). Definition at line 78 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::dv4 [protected]

Auxiliary value to store a derivative (velocity). Definition at line 82 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> const int animal::OdeSolver< t_Positions, t_Vector, t_Real >::EULER = 0 [static]

Symbol of explicit Euler integration. Definition at line 29 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> const int animal::OdeSolver< t_Positions, t_Vector, t_Real >::MODMID = 3 [static]

Symbol of modified midpoint integration. Definition at line 32 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> const int animal::OdeSolver< t_Positions, t_Vector, t_Real >::RK2 = 1 [static]

Symbol of second-order Runge-Kutta integration. Definition at line 30 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> const int animal::OdeSolver< t_Positions, t_Vector, t_Real >::RK4 = 2 [static]

Symbol of fourth-order Runge-Kutta integration. Definition at line 31 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

template<class t_Positions, class t_Vector, class t_Real> Sta animal::OdeSolver< t_Positions, t_Vector, t_Real >::s1 [protected]

Auxiliary value to store a state (positions, velocities). Definition at line 91 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Sta animal::OdeSolver< t_Positions, t_Vector, t_Real >::s2 [protected]

Auxiliary value to store a state (positions, velocities). Definition at line 95 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Sta animal::OdeSolver< t_Positions, t_Vector, t_Real >::s3 [protected]

Auxiliary value to store a state (positions, velocities). Definition at line 99 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Positions animal::OdeSolver< t_Positions, t_Vector, t_Real >::sp1 [protected]

Auxiliary value to store a state (positions). Definition at line 89 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Positions animal::OdeSolver< t_Positions, t_Vector, t_Real >::sp2 [protected]

Auxiliary value to store a state (positions). Definition at line 93 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Positions animal::OdeSolver< t_Positions, t_Vector, t_Real >::sp3 [protected]

Auxiliary value to store a state (positions). Definition at line 97 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::sv1 [protected]

Auxiliary value to store a state (velocities). Definition at line 90 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::sv2 [protected]

Auxiliary value to store a state (velocities). Definition at line 94 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::sv3 [protected]

Auxiliary value to store a state (velocities). Definition at line 98 of file odeSolver.h.

template<class t_Positions, class t_Vector, class t_Real> Vector animal::OdeSolver< t_Positions, t_Vector, t_Real >::velHalf [protected]

Definition at line 101 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::integrate_VVerlet(), and animal::OdeSolver< t_Positions, t_Vector, t_Real >::velocityVerlet().

template<class t_Positions, class t_Vector, class t_Real> const int animal::OdeSolver< t_Positions, t_Vector, t_Real >::VVERLET = 4 [static]

Symbol of velocity Verlet integration. Definition at line 33 of file odeSolver.h. Referenced by animal::OdeSolver< t_Positions, t_Vector, t_Real >::solveODE().

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

• odeSolver.h
• odeSolver.inl

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