File baseTimeStepper.h

class baseTimeStepper : public enable_shared_from_this<baseTimeStepper>

Subclassed by explicitTimeStepper, implicitTimeStepper

Public Functions

baseTimeStepper(const shared_ptr<softRobots> &m_soft_robots, const shared_ptr<forceContainer> &m_forces, const simParams &sim_params)

virtual ~baseTimeStepper()

void addForce(int ind, double p, int limb_idx)

virtual void initStepper()

virtual void prepSystemForIteration()

virtual void setZero()

virtual void update()

virtual void integrator() = 0

virtual void addJacobian(int ind1, int ind2, double p, int limb_idx) = 0

virtual void addJacobian(int ind1, int ind2, double p, int limb_idx1, int limb_idx2) = 0

virtual void updateSystemForNextTimeStep() = 0

virtual double stepForwardInTime() = 0

Public Members

double *dx

double *force

Map<VectorXd> Force

Map<VectorXd> DX

MatrixXd Jacobian

int freeDOF

vector<int> offsets

int iter = 0

Protected Attributes

int mappedInd

int mappedInd1

int mappedInd2

int offset

double dt

double alpha = 1.0

vector<shared_ptr<elasticRod>> &limbs

vector<shared_ptr<elasticJoint>> &joints

vector<shared_ptr<baseController>> &controllers

shared_ptr<forceContainer> forces