stateVecIntegrator

Base class for every integrator that advances the states of a dynamicObject.

To create a new integrator, inherit from this class and override integrate(). The method only has to advance the states one time step, from currentTime to currentTime + timeStep.

The dynamic object to integrate is passed in as an argument, so an integrator holds no reference to the object it advances. Working memory that would otherwise be allocated on every step should be held as a member and reused, as Rk4Integrator does with its copies of the state vector.

An implementation drives the dynamic object through two interfaces. DynamicObject::equationsOfMotion() evaluates the state derivatives at a given time. The state manager DynamicObject::dynManager reads and writes the states themselves, through getStateVector(), updateStateVector() and propagateStateVector(), while StateVector::setDerivativesFrom() and StateVector::propagateState() accumulate the stage results.

struct StateVecIntegrator

state vector integrator class

Subclassed by Rk4Integrator

Public Functions

virtual void integrate(DynamicObject &dyn, double currentTime, double timeStep) = 0

Advances the states of the given dynamic object one time step.

Parameters:

• dyn – dynamic object whose states are advanced

• currentTime – [s] time at the start of the step

• timeStep – [s] length of the step