SimpleIntegrator.hpp

Go to the documentation of this file.

/*
 * =====================================================================================
 *
 *       Filename:  SimpleIntegrator.h
 *
 *    Description:  
 *
 *        Version:  1.0
 *        Created:  10/19/09 14:01:38
 *       Revision:  none
 *       Compiler:  gcc
 *
 *         Author:  Ajish Babu (), ajish.babu@dfki.de
 *        Company:  DFKI
 *
 * =====================================================================================
 */

# include "RK4Integrator.hpp"

#ifndef  MOTOR_CONTROLLER_SIMPLEINTEGRATOR_H__INC
#define  MOTOR_CONTROLLER_SIMPLEINTEGRATOR_H__INC

namespace motor_controller
{

/*
 * =====================================================================================
 *        Class:  SimpleIntegrator
 *  Description:  
 * =====================================================================================
 */
class SimpleIntegrator : public RK4_SIM
{
    public:
        SimpleIntegrator ();
        SimpleIntegrator (double _sample_time, double _initial_time = 0.0, double _init_val = 0.0);                             /* constructor */

        ~SimpleIntegrator() {}  

        void init(double _sample_time, double _initial_time = 0.0, double _init_val = 0.0);

        // Overload DERIV function of RK4_SIM for the integrator
        void DERIV(const double t, const double *x, 
                const double *u, double *xdot);

        double update(double derivVal);
    protected:

    private:
}; 

}
#endif