javax.robotics.ode
Class RungeKutta4th2
java.lang.Object
javax.robotics.ode.Euler2
javax.robotics.ode.RungeKutta4th2
- All Implemented Interfaces:
- DerivableFunction2, Solver2
public class RungeKutta4th2
- extends Euler2
This class implements forward RungeKutta4th integration method for systems of
two first order differential equations.
x''=f(x, x') with x(0)=x0, x'(0)= y0, is equivalent to system of two first order of differential equation:
y' = f(x, y)
x' = y
with x(0)=x0, y(0)= y0
- Since:
- 1.0.3
- Version:
- 09/11/2005
- Author:
- Carmine Lia
Constructor Summary |
RungeKutta4th2(double dt,
RVector initialConditionPosition,
RVector initialConditionVelocity)
Defines RungeKutta4th numerical integration for x'' = f(x, x') as system
of two first order differential equation. |
RungeKutta4th2(double dt,
RVector initialConditionPosition,
RVector initialConditionVelocity,
DerivableFunction2 target)
Defines RungeKutta4th numerical integration for x'' = f(x, x') as system
of two first order differential equation. |
Method Summary |
void |
step(RVector position,
RVector velocity)
Computes step integration from time t to t+dt of x'' = f(x, x'). |
Methods inherited from class javax.robotics.ode.Euler2 |
getInitialConditionPosition, getInitialConditionVelocity, getLastValuePosition, getLastValueVelocity, getSampleTime, getTime, resetTime, setInitialConditionPosition, setInitialConditionVelocity, setSampleTime, setTargetFunction, xDot2 |
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
RungeKutta4th2
public RungeKutta4th2(double dt,
RVector initialConditionPosition,
RVector initialConditionVelocity)
- Defines RungeKutta4th numerical integration for x'' = f(x, x') as system
of two first order differential equation.
- Parameters:
dt
- time interval of integration [sec]initialConditionPosition
- position at time zero x(0).initialConditionVelocity
- velocity at time zero x'(0).
RungeKutta4th2
public RungeKutta4th2(double dt,
RVector initialConditionPosition,
RVector initialConditionVelocity,
DerivableFunction2 target)
- Defines RungeKutta4th numerical integration for x'' = f(x, x') as system
of two first order differential equation.
- Parameters:
dt
- time interval of integration [sec]initialConditionPosition
- position at time zero x(0).initialConditionVelocity
- velocity at time zero x'(0).target
- differential equation to be integrated
step
public void step(RVector position,
RVector velocity)
- Description copied from interface:
Solver2
- Computes step integration from time t to t+dt of x'' = f(x, x').
The params last value position and velocity are modified.
- Specified by:
step
in interface Solver2
- Overrides:
step
in class Euler2
- Parameters:
position
- x argument of f(x, x')velocity
- x' argument of f(x, x')