org.vizzini.math.ode
Class DynamicStateODE

java.lang.Object
  extended by org.vizzini.math.ode.AbstractODE
      extended by org.vizzini.math.ode.DynamicStateODE
All Implemented Interfaces:
IODE

public class DynamicStateODE
extends AbstractODE

Provides an ordinary differential equation for a IDynamicState.

Dependent variables and their indices are:

  1. velocity x
  2. velocity y
  3. velocity z
  4. angular velocity x
  5. angular velocity y
  6. angular velocity z
  7. angular velocity q
  8. mass velocity
  9. position x
  10. position y
  11. position z
  12. orientation x
  13. orientation y
  14. orientation z
  15. orientation q
  16. mass

Since:
v0.3
Version:
v0.3
Author:
Jeffrey M. Thompson

Constructor Summary
DynamicStateODE(IDynamicState dynamicState)
          Construct this object with the given parameter.
 
Method Summary
 IDynamicState getDynamicState()
           
 double[] getRightHandSide(double s, double[] q, double ds, double[] deltaQ, double qScale)
          Returns the right-hand side of the ODEs.
protected  void setDynamicState(IDynamicState dynamicState)
           
 void updatePostProcess()
          Perform update post-processing.
 
Methods inherited from class org.vizzini.math.ode.AbstractODE
checkIndex, getAllQ, getEquationCount, getQ, getS, setQ, setS
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DynamicStateODE

public DynamicStateODE(IDynamicState dynamicState)
Construct this object with the given parameter.

Parameters:
dynamicState - Dynamic state. (required)
Since:
v0.3
Method Detail

getDynamicState

public IDynamicState getDynamicState()
Returns:
Return dynamicState.
Since:
v0.3

getRightHandSide

public double[] getRightHandSide(double s,
                                 double[] q,
                                 double ds,
                                 double[] deltaQ,
                                 double qScale)
Returns the right-hand side of the ODEs.

Parameters:
s - Independent variable value.
q - Dependent variables values.
ds - Delta value of the independent variable.
deltaQ - Delta values of the dependent variables.
qScale - Scale value for the dependent variables.
Since:
v0.3

updatePostProcess

public void updatePostProcess()
Perform update post-processing. Update the values in the dynamic state.

Specified by:
updatePostProcess in interface IODE
Overrides:
updatePostProcess in class AbstractODE
Since:
v0.3

setDynamicState

protected void setDynamicState(IDynamicState dynamicState)
Parameters:
dynamicState - the dynamicState to set
Since:
v0.3


Copyright 2007 Vizzini.org. All Rights Reserved. 2007.12.25.03.00.02