File explicitTimeStepper.h

class explicitTimeStepper : public baseTimeStepper

Subclassed by forwardEuler, verletPosition

Public Functions

explicitTimeStepper(const shared_ptr<softRobots> &soft_robots, const shared_ptr<forceContainer> &forces, const simParams &sim_params)

~explicitTimeStepper() override

virtual void prepSystemForIteration() override

virtual void integrator() override

virtual void addJacobian(int ind1, int ind2, double p, int limb_indx) override

virtual void addJacobian(int ind1, int ind2, double p, int limb_indx1, int limb_idx2) override

Protected Attributes

vector<VectorXd> inverse_masses

Private Functions

void constructInverseMassVector()