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OdeSolverLinearEulerImplicit.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H
17 #define SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Math
25 {
26 
31 {
32 public:
35  explicit OdeSolverLinearEulerImplicit(OdeEquation* equation);
36 
37  virtual void solve(double dt, const OdeState& currentState, OdeState* newState) override;
38 
39 private:
42 
45 };
46 
47 }; // namespace Math
48 
49 }; // namespace SurgSim
50 
51 #endif // SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
Matrix m_constantK
The constant stiffness matrix.
Definition: OdeSolverLinearEulerImplicit.h:41
OdeSolverLinearEulerImplicit(OdeEquation *equation)
Constructor.
Definition: OdeSolverLinearEulerImplicit.cpp:25
Ode equation of 2nd order of the form M(x,v).a = F(x, v) with (x0, v0) for initial conditions and a s...
Definition: OdeEquation.h:40
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
virtual void solve(double dt, const OdeState &currentState, OdeState *newState) override
Solves the equation.
Definition: OdeSolverLinearEulerImplicit.cpp:31
Linear Version of the Euler Implicit ode solver This solver assumes that the system is linear...
Definition: OdeSolverLinearEulerImplicit.h:30
Euler Implicit ode solver.
Definition: OdeSolverEulerImplicit.h:38
bool m_initialized
Has the solver been initialized.
Definition: OdeSolverLinearEulerImplicit.h:44