C++ (Cpp) integrateStepRungeKutta Examples

Example #1

File: DynamicalSystem.cpp Project: flowersteam/dmpbbo

void DynamicalSystem::integrateStep(double dt, const Ref<const VectorXd> x, Ref<VectorXd> x_updated, Ref<VectorXd> xd_updated) const
{
  assert(dt>0.0);
  // Check size. Leads to faster numerical integration and makes Eigen::Ref easier to deal with   
  assert(x.size()==dim());
  if (integration_method_ == RUNGE_KUTTA)
    integrateStepRungeKutta(dt, x, x_updated, xd_updated);
  else
    integrateStepEuler(dt, x, x_updated, xd_updated);
}

Example #2

File: DynamicalSystem.cpp Project: rlober/dmpbbo

void DynamicalSystem::integrateStep(double dt, const Ref<const VectorXd> x, Ref<VectorXd> x_updated, Ref<VectorXd> xd_updated) const
{
  assert(dt>0.0);
  //if (dt>0.01) {std::cout<<"WARNING: The selected timestep, dt, may be numerically instable. Consider choosing dt < 0.01."<<std::endl;}
  // Check size. Leads to faster numerical integration and makes Eigen::Ref easier to deal with
  assert(x.size()==dim());
  if (integration_method_ == RUNGE_KUTTA)
    integrateStepRungeKutta(dt, x, x_updated, xd_updated);
  else
    integrateStepEuler(dt, x, x_updated, xd_updated);
}