utils.cpp File Reference
Detailed Description
Utility functions.
Definition in file utils.cpp.
#include "robot.h"
#include <iomanip>
Include dependency graph for utils.cpp: 
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Namespaces |
| namespace | ROBOOP |
Defines |
| #define | PGROW -0.20 |
| #define | PSHRNK -0.25 |
| #define | FCOR 0.06666666 |
| #define | SAFETY 0.9 |
| #define | ERRCON 6.0E-4 |
| #define | MAXSTP 10000 |
| #define | TINY 1.0e-30 |
Functions |
| ReturnMatrix | ROBOOP::x_prod_matrix (const ColumnVector &x) |
| | Cross product matrix.
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| ReturnMatrix | ROBOOP::Integ_Trap (const ColumnVector &present, ColumnVector &past, const Real dt) |
| | Trapezoidal integration.
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| void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(Real time, const Matrix &xin, bool &exit, bool &init), const Matrix &xo, Real to, Real tf, int nsteps) |
| | Fixed step size fourth-order Runge-Kutta integrator.
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| void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(const Real time, const Matrix &xin), const Matrix &xo, const Real to, const Real tf, const int nsteps) |
| void | ROBOOP::Runge_Kutta4 (ReturnMatrix(*xdot)(Real time, const Matrix &xin), const Matrix &xo, Real to, Real tf, int nsteps, RowVector &tout, Matrix &xout) |
| | Fixed step size fourth-order Runge-Kutta integrator.
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| ReturnMatrix | ROBOOP::rk4 (const Matrix &x, const Matrix &dxdt, Real t, Real h, ReturnMatrix(*xdot)(Real time, const Matrix &xin)) |
| | Compute one Runge-Kutta fourth order step.
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| void | ROBOOP::rkqc (Matrix &x, Matrix &dxdt, Real &t, Real htry, Real eps, Matrix &xscal, Real &hdid, Real &hnext, ReturnMatrix(*xdot)(Real time, const Matrix &xin)) |
| | Compute one adaptive step based on two rk4.
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| void | ROBOOP::odeint (ReturnMatrix(*xdot)(Real time, const Matrix &xin), Matrix &xo, Real to, Real tf, Real eps, Real h1, Real hmin, int &nok, int &nbad, RowVector &tout, Matrix &xout, Real dtsav) |
| | Integrate the ordinary differential equation xdot from time to to time tf using an adaptive step size strategy.
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| ReturnMatrix | ROBOOP::sign (const Matrix &x) |
| | Sign of a matrix.
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| short | ROBOOP::sign (const Real x) |
| | Sign of real.
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Variables |
| static const char rcsid[] | ROBOOP::__UNUSED__ = "$Id: utils.cpp,v 1.6 2005/07/26 03:22:09 ejt Exp $" |
| | RCS/CVS version.
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