root / scout / libscout / src / helper_classes / RungaKutta.h @ 34a60a3b
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| 1 | 34a60a3b | Priya | #ifndef _RUNGA_KUTTA_H_
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| 2 | #define _RUNGA_KUTTA_H_
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| 3 | |||
| 4 | #include <vector> |
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| 5 | |||
| 6 | class RungaKutta |
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| 7 | {
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| 8 | public:
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| 9 | static std::vector<double> rk4( |
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| 10 | std::vector<double> start,
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| 11 | std::vector<double> (*func)(std::vector<double>), |
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| 12 | double loop_time);
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| 13 | static std::vector<double> diff_drive_robot(std::vector<double> x); |
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| 14 | private:
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| 15 | static std::vector<double> integrate( |
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| 16 | std::vector<double> a,
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| 17 | std::vector<double> b,
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| 18 | double t);
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| 19 | }; |
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| 20 | |||
| 21 | #endif |