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integrator-force-rk4.h
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1/*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10#ifndef __SOT_SOTINTEGRATORFORCERK4_H__
11#define __SOT_SOTINTEGRATORFORCERK4_H__
12
13/* --------------------------------------------------------------------- */
14/* --- INCLUDE --------------------------------------------------------- */
15/* --------------------------------------------------------------------- */
16
17/* Matrix */
18#include <dynamic-graph/linear-algebra.h>
19
20/* SOT */
21#include <dynamic-graph/entity.h>
22#include <dynamic-graph/signal-ptr.h>
23#include <dynamic-graph/signal-time-dependent.h>
25
26#include <sot/core/matrix-geometry.hh>
27
28/* STD */
29#include <string>
30
31/* --------------------------------------------------------------------- */
32/* --- API ------------------------------------------------------------- */
33/* --------------------------------------------------------------------- */
34
35#if defined(WIN32)
36#if defined(integrator_force_rk4_EXPORTS)
37#define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllexport)
38#else
39#define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllimport)
40#endif
41#else
42#define SOTINTEGRATORFORCERK4_EXPORT
43#endif
44
45namespace dynamicgraph {
46namespace sot {
47namespace dg = dynamicgraph;
48
49/* --------------------------------------------------------------------- */
50/* --- CLASS ----------------------------------------------------------- */
51/* --------------------------------------------------------------------- */
52
54 public:
55 static const std::string CLASS_NAME;
56
57 protected:
58 public: /* --- CONSTRUCTION --- */
59 IntegratorForceRK4(const std::string& name);
60 virtual ~IntegratorForceRK4(void);
61
62 public: /* --- SIGNAL --- */
63 public: /* --- FUNCTIONS --- */
64 dynamicgraph::Vector& computeDerivativeRK4(dynamicgraph::Vector& res,
65 const int& time);
66};
67
68} /* namespace sot */
69} /* namespace dynamicgraph */
70
71#endif // #ifndef __SOT_SOTINTEGRATORFORCERK4_H__
Definition: integrator-force-rk4.h:53
static const std::string CLASS_NAME
Definition: integrator-force-rk4.h:55
IntegratorForceRK4(const std::string &name)
dynamicgraph::Vector & computeDerivativeRK4(dynamicgraph::Vector &res, const int &time)
Definition: integrator-force.h:52
#define SOTINTEGRATORFORCERK4_EXPORT
Definition: integrator-force-rk4.h:42
Definition: angle-estimator.h:43