Class NumericalIntegration

java.lang.Object

org.wpilib.math.autodiff.NumericalIntegration

public final class NumericalIntegration
extends Object

Numerical integration utilities.

Method Summary

Modifier and Type	Method	Description
static VariableMatrix	rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f, VariableBlock x, VariableBlock u, double dt)	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
static VariableMatrix	rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f, VariableBlock x, VariableMatrix u, double dt)	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
static VariableMatrix	rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f, VariableMatrix x, VariableBlock u, double dt)	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
static VariableMatrix	rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f, VariableMatrix x, VariableMatrix u, double dt)	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

rk4

public static VariableMatrix rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f,
 VariableBlock x,
 VariableBlock u,
 double dt)

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters:

f - The function to integrate. It must take two arguments x and u.

x - The initial value of x.

u - The value u held constant over the integration period.

dt - The time over which to integrate.

Returns:

the integration of dx/dt = f(x, u) for dt.

rk4

public static VariableMatrix rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f,
 VariableBlock x,
 VariableMatrix u,
 double dt)

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters:

f - The function to integrate. It must take two arguments x and u.

x - The initial value of x.

u - The value u held constant over the integration period.

dt - The time over which to integrate.

Returns:

the integration of dx/dt = f(x, u) for dt.

rk4

public static VariableMatrix rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f,
 VariableMatrix x,
 VariableBlock u,
 double dt)

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters:

f - The function to integrate. It must take two arguments x and u.

x - The initial value of x.

u - The value u held constant over the integration period.

dt - The time over which to integrate.

Returns:

the integration of dx/dt = f(x, u) for dt.

rk4

public static VariableMatrix rk4(BiFunction<VariableMatrix, VariableMatrix, VariableMatrix> f,
 VariableMatrix x,
 VariableMatrix u,
 double dt)

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters:

f - The function to integrate. It must take two arguments x and u.

x - The initial value of x.

u - The value u held constant over the integration period.

dt - The time over which to integrate.

Returns:

the integration of dx/dt = f(x, u) for dt.