javax.robotics.ode
Class RungeKutta4th

java.lang.Object
  javax.robotics.ode.Euler
      javax.robotics.ode.RungeKutta4th

All Implemented Interfaces:

DerivableFunction, Solver

public class RungeKutta4th
extends Euler

This class implements RungeKutta4th integration method.

Since:

1.0.0

Version:

09/11/2005

Author:

Carmine Lia

Field Summary

Fields inherited from interface javax.robotics.ode.Solver

startTime

Constructor Summary

RungeKutta4th(double dt, RVector initialCondition, DerivableFunction target)
Defines numerical integration RungeKutta4th for x' = f(x) differential equation.

Method Summary

void	step(RVector x) Computes step integration from time t to t+dt of x' = f(x).

Methods inherited from class javax.robotics.ode.Euler

getInitialCondition, getLastValue, getSampleTime, getTime, setInitialCondition, setSampleTime, xDot

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RungeKutta4th

public RungeKutta4th(double dt,
                     RVector initialCondition,
                     DerivableFunction target)

Defines numerical integration RungeKutta4th for x' = f(x) differential equation.

Parameters:

dt - time interval of integration [sec]

initialCondition - initial condition at time zero x(0).

target - differential equation to be integrated

Method Detail

step

public void step(RVector x)

Description copied from interface: Solver

Computes step integration from time t to t+dt of x' = f(x). The params last value position is modified.

Specified by:

step in interface Solver

Overrides:

step in class Euler

Parameters:

x - argument of f(x)