NumericalIntegration.h File Reference

#include <vector>
#include <rbdyn/config.hh>
#include "Joint.h"

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Namespaces
	rbd

Functions
RBDYN_DLLAPI std::pair< Eigen::Quaterniond, bool >	rbd::SO3Integration (const Eigen::Quaterniond &qi, const Eigen::Vector3d &wi, const Eigen::Vector3d &wD, double step, double relEps=1e-12, double absEps=std::numeric_limits< double >::epsilon(), bool breakOnWarning=false)
RBDYN_DLLAPI void	rbd::jointIntegration (Joint::Type type, const std::vector< double > &alpha, const std::vector< double > &alphaD, double step, std::vector< double > &q, double prec=1e-10)
RBDYN_DLLAPI void	rbd::integration (const MultiBody &mb, MultiBodyConfig &mbc, double step, double prec=1e-10)
RBDYN_DLLAPI void	rbd::sIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step, double prec=1e-10)
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