NumericalTools.RealtimeIntegratorFactory Class Reference

A wrapper on all the implementations of ODE numerical integration that can be used in real time. More...

Public Types
enum	Itype {   LEAPFROG, RK4_LITE, RK23_SCIPY, RK45_SCIPY,   DOP853_SCIPY }
	Choice of integrators: LEAPFROG and RK4_LITE are very simple fixed timestep integrators. More...

Static Public Member Functions
static RealtimeIntegratorInterface	Create (Itype itype, Ivp.DiffEqFunction fun, double[] y0, double t0, double dt=0.1 *1.0/60.0, params object[] args)
	Get the param names for the specified type. Used by the per-chart code in the Manifold editor to control initial setup of each per-chart integrator. More...

Detailed Description

A wrapper on all the implementations of ODE numerical integration that can be used in real time.

This allows the use of the very simple Leapfrog and RK4 fixed timestep integrators as well as the more complex, time step adaptive SciPy integrators.

NOTE: The DE order for Leapfrog is crucial! See the comments in Leapfrog solver. (Must order y[] as positions then velocities!)

This class is static.

Depending on the choice of integration the setup parameters may differ. The parameters are provided as name/value pairs to allow the editor scripts to present per-integrator options. Currently all parameters are doubles.

Some integrators have built in limits. In general the default values will be ok, but there may be reasons to adjust these in some circumstances.

The more advanced capabilitites of the SciPy integrators (e.g. events and dense output) are not directly configurable from this interface. Direct use of IvpRealtime is needed in those cases.

Member Enumeration Documentation

Itype

enum NumericalTools.RealtimeIntegratorFactory.Itype

strong

Choice of integrators: LEAPFROG and RK4_LITE are very simple fixed timestep integrators.

RK23, RK45 and DOP853 are from the DESolver module. These are a port of the full featured SciPy integrators and have variable step size based on error estimation.

Member Function Documentation

Create()

static RealtimeIntegratorInterface NumericalTools.RealtimeIntegratorFactory.Create ( Itype  itype, Ivp.DiffEqFunction  fun, double []  y0, double  t0, double  dt = 0.1 * 1.0 / 60.0, params object []  args  )

inlinestatic

Get the param names for the specified type. Used by the per-chart code in the Manifold editor to control initial setup of each per-chart integrator.

Parameters

itype

Returns

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The documentation for this class was generated from the following file:

• DE Solver/Assets/NumericalTools/RealtimeIntegrators/Scripts/RealtimeIntegratorFactory.cs