edu.wpi.first.math.system.NumericalIntegration

public final class NumericalIntegration
extends Object

Method Summary

Modifier and Type	Method	Description
`static <States extends Num, Inputs extends Num> Matrix<States,N1>`	`rk4(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)`	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
`static double`	`rk4(BiFunction<Double,Double,Double> f, double x, Double u, double dtSeconds)`	Performs Runge Kutta integration (4th order).
`static double`	`rk4(DoubleFunction<Double> f, double x, double dtSeconds)`	Performs Runge Kutta integration (4th order).
`static <States extends Num> Matrix<States,N1>`	`rk4(Function<Matrix<States,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, double dtSeconds)`	Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
`static <States extends Num, Inputs extends Num> Matrix<States,N1>`	`rkdp(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)`	Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.
`static <States extends Num, Inputs extends Num> Matrix<States,N1>`	`rkdp(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds, double maxError)`	Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.
`static <States extends Num, Inputs extends Num> Matrix<States,N1>`	`rkf45(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)`	Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method.
`static <States extends Num, Inputs extends Num> Matrix<States,N1>`	`rkf45(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds, double maxError)`	Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method

Methods inherited from class java.lang.Object

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

Method Details
- rk4
  
  public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds)
  
  Performs Runge Kutta integration (4th order).
  
  Parameters:
  
  f - The function to integrate, which takes one argument x.
  
  x - The initial value of x.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  the integration of dx/dt = f(x) for dt.
- rk4
  
  public static double rk4(BiFunction<Double,Double,Double> f, double x, Double u, double dtSeconds)
  
  Performs Runge Kutta integration (4th order).
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  The result of Runge Kutta integration (4th order).
- rk4
  
  public static <States extends Num, Inputs extends Num> Matrix<States,N1> rk4(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)
  
  Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
  
  Type Parameters:
  
  States - A Num representing the states of the system to integrate.
  
  Inputs - A Num representing the inputs of the system to integrate.
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  the integration of dx/dt = f(x, u) for dt.
- rk4
  
  public static <States extends Num> Matrix<States,N1> rk4(Function<Matrix<States,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, double dtSeconds)
  
  Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
  
  Type Parameters:
  
  States - A Num prepresenting the states of the system.
  
  Parameters:
  
  f - The function to integrate. It must take one argument x.
  
  x - The initial value of x.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  4th order Runge-Kutta integration of dx/dt = f(x) for dt.
- rkf45
  
  public static <States extends Num, Inputs extends Num> Matrix<States,N1> rkf45(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)
  
  Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method. By default, the max error is 1e-6.
  
  Type Parameters:
  
  States - A Num representing the states of the system to integrate.
  
  Inputs - A Num representing the inputs of the system to integrate.
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  the integration of dx/dt = f(x, u) for dt.
- rkf45
  
  public static <States extends Num, Inputs extends Num> Matrix<States,N1> rkf45(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds, double maxError)
  
  Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method
  
  Type Parameters:
  
  States - A Num representing the states of the system to integrate.
  
  Inputs - A Num representing the inputs of the system to integrate.
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  maxError - The maximum acceptable truncation error. Usually a small number like 1e-6.
  
  Returns:
  
  the integration of dx/dt = f(x, u) for dt.
- rkdp
  
  public static <States extends Num, Inputs extends Num> Matrix<States,N1> rkdp(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds)
  
  Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt. By default, the max error is 1e-6.
  
  Type Parameters:
  
  States - A Num representing the states of the system to integrate.
  
  Inputs - A Num representing the inputs of the system to integrate.
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  Returns:
  
  the integration of dx/dt = f(x, u) for dt.
- rkdp
  
  public static <States extends Num, Inputs extends Num> Matrix<States,N1> rkdp(BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u, double dtSeconds, double maxError)
  
  Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.
  
  Type Parameters:
  
  States - A Num representing the states of the system to integrate.
  
  Inputs - A Num representing the inputs of the system to integrate.
  
  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.
  
  dtSeconds - The time over which to integrate.
  
  maxError - The maximum acceptable truncation error. Usually a small number like 1e-6.
  
  Returns:
  
  the integration of dx/dt = f(x, u) for dt.

Class NumericalIntegration

Method Summary

Methods inherited from class java.lang.Object

Method Details