OdeSolverStatic.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
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13 // See the License for the specific language governing permissions and
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15 
16 #ifndef SURGSIM_MATH_ODESOLVERSTATIC_H
17 #define SURGSIM_MATH_ODESOLVERSTATIC_H
18 
19 #include "SurgSim/Math/OdeSolver.h"
20 
21 namespace SurgSim
22 {
23 
24 namespace Math
25 {
26 
35 class OdeSolverStatic : public OdeSolver
36 {
37 public:
40  explicit OdeSolverStatic(OdeEquation* equation);
41 
42  void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override;
43 
44 protected:
45  void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState,
46  bool computeRHS = true) override;
47 };
48 
49 }; // namespace Math
50 
51 }; // namespace SurgSim
52 
53 #endif // SURGSIM_MATH_ODESOLVERSTATIC_H
SurgSim::Math::OdeState
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:39
SurgSim::Math::OdeSolverStatic::solve
void solve(double dt, const OdeState &currentState, OdeState *newState, bool computeCompliance=true) override
Solves the equation.
Definition: OdeSolverStatic.cpp:31
SurgSim::Math::OdeSolverStatic
Static ode solver solves the following order ode .
Definition: OdeSolverStatic.h:36
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Math::OdeSolverStatic::OdeSolverStatic
OdeSolverStatic(OdeEquation *equation)
Constructor.
Definition: OdeSolverStatic.cpp:25
SurgSim::Math::OdeSolverStatic::assembleLinearSystem
void assembleLinearSystem(double dt, const OdeState &state, const OdeState &newState, bool computeRHS=true) override
Assemble the linear system (A.x=b) to be solved for the state and new states (useful for certain ode ...
Definition: OdeSolverStatic.cpp:58
SurgSim::Math::OdeEquation
Ode equation of 2nd order of the form with for initial conditions and a set of boundary conditions.
Definition: OdeEquation.h:55
SurgSim::Math::OdeSolver
Base class for all solvers of ode equation of order 2 of the form .
Definition: OdeSolver.h:79
OdeSolver.h