org.vizzini.math.ode
Class DynamicStateODE

java.lang.Object
  org.vizzini.math.ode.AbstractODE
      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:

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