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utils.cpp File Reference


Detailed Description

Utility functions.

Definition in file utils.cpp.

#include "robot.h"
#include <iomanip>

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Go to the source code of this file.

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.
ReturnMatrix ROBOOP::Integ_Trap (const ColumnVector &present, ColumnVector &past, const Real dt)
 Trapezoidal integration.
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.
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.
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.
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.
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.
ReturnMatrix ROBOOP::sign (const Matrix &x)
 Sign of a matrix.
short ROBOOP::sign (const Real x)
 Sign of real.


Define Documentation

#define ERRCON   6.0E-4
 

Definition at line 205 of file utils.cpp.

Referenced by ROBOOP::rkqc().

#define FCOR   0.06666666
 

Definition at line 203 of file utils.cpp.

Referenced by ROBOOP::rkqc().

#define MAXSTP   10000
 

Definition at line 256 of file utils.cpp.

Referenced by ROBOOP::odeint().

#define PGROW   -0.20
 

Definition at line 201 of file utils.cpp.

Referenced by ROBOOP::rkqc().

#define PSHRNK   -0.25
 

Definition at line 202 of file utils.cpp.

Referenced by ROBOOP::rkqc().

#define SAFETY   0.9
 

Definition at line 204 of file utils.cpp.

Referenced by ROBOOP::rkqc().

#define TINY   1.0e-30
 

Definition at line 257 of file utils.cpp.

Referenced by ROBOOP::odeint().


ROBOOP v1.21a
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