iDynTree::optimalcontrol::integrators::FixedStepIntegrator class
#include <iDynTree/Integrators/FixedStepIntegrator.h>

Base classes

class Integrator
The Integrator base class.

Derived classes

class ForwardEuler
class ImplicitTrapezoidal
class RK4

Constructors, destructors, conversion operators

FixedStepIntegrator()
FixedStepIntegrator(const std::shared_ptr<iDynTree::optimalcontrol::DynamicalSystem> dynamicalSystem)
~FixedStepIntegrator() virtual

Public functions

auto integrate(double initialTime, double finalTime) -> bool override
Integrate the dynamical system with specified integration bounds.

Protected functions

auto oneStepIntegration(double t0, double dT, const VectorDynSize& x0, VectorDynSize& x) -> bool pure virtual

Function documentation

bool iDynTree::optimalcontrol::integrators::FixedStepIntegrator::integrate(double initialTime, double finalTime) override

Integrate the dynamical system with specified integration bounds.

Parameters
initialTime in Lower integration bound.
finalTime in Upper integration bound.
Returns true if successfull.

This method should be implemented by the custom integrator.