NumericalIntegration.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <vector>
 
// RBDyn
#include <rbdyn/config.hh>
 
#include "Joint.h"
 
namespace rbd
{
class MultiBody;
struct MultiBodyConfig;
 
RBDYN_DLLAPI std::pair<Eigen::Quaterniond, bool> 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 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 integration(const MultiBody & mb, MultiBodyConfig & mbc, double step, double prec = 1e-10);
 
RBDYN_DLLAPI void sIntegration(const MultiBody & mb, MultiBodyConfig & mbc, double step, double prec = 1e-10);
 
} // namespace rbd