pprz_rk_float.h File Reference

Runge-Kutta library (float version) More...

#include "math/pprz_algebra_float.h"

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Functions
static void	runge_kutta_1_float (float *xo, const float *x, const int n, const float *u, const int m, void(*f)(float *o, const float *x, const int n, const float *u, const int m), const float dt)
	First-Order Runge-Kutta. More...
static void	runge_kutta_2_float (float *xo, const float *x, const int n, const float *u, const int m, void(*f)(float *o, const float *x, const int n, const float *u, const int m), const float dt)
	Second-Order Runge-Kutta. More...
static void	runge_kutta_4_float (float *xo, const float *x, const int n, const float *u, const int m, void(*f)(float *o, const float *x, const int n, const float *u, const int m), const float dt)
	Fourth-Order Runge-Kutta. More...

Detailed Description

Runge-Kutta library (float version)

Definition in file pprz_rk_float.h.

Function Documentation

runge_kutta_1_float()

static void runge_kutta_1_float ( float *  xo, const float *  x, const int  n, const float *  u, const int  m, void(*)(float *o, const float *x, const int n, const float *u, const int m)  f, const float  dt  )

inlinestatic

First-Order Runge-Kutta.

aka RK1, aka the euler method

considering x' = f(x,u) with x = x0 the initial state and u the command vector

x_new = x + dt * f(x, u) is the integrated state vector x based on model f under command u

Parameters

xo	output integrated state
x	initial state
n	state dimension
u	command vector
m	command dimension
f	model function
dt	integration step

Definition at line 55 of file pprz_rk_float.h.

References f, float_vect_add(), and float_vect_smul().

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runge_kutta_2_float()

static void runge_kutta_2_float ( float *  xo, const float *  x, const int  n, const float *  u, const int  m, void(*)(float *o, const float *x, const int n, const float *u, const int m)  f, const float  dt  )

inlinestatic

Second-Order Runge-Kutta.

aka RK2, aka the mid-point method

considering x' = f(x,u) with x = x0 the initial state and u the command vector

mid_point = x + (dt/2)*f(x, u) x_new = x + dt * f(mid_point, u) is the integrated state vector x based on model f under command u

Parameters

xo	output integrated state
x	initial state
n	state dimension
u	command vector
m	command dimension
f	model function
dt	integration step

Definition at line 89 of file pprz_rk_float.h.

References f, float_vect_add(), and float_vect_smul().

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runge_kutta_4_float()

static void runge_kutta_4_float ( float *  xo, const float *  x, const int  n, const float *  u, const int  m, void(*)(float *o, const float *x, const int n, const float *u, const int m)  f, const float  dt  )

inlinestatic

Fourth-Order Runge-Kutta.

aka RK4, aka 'the' Runge-Kutta

considering x' = f(x,u) with x = x0 the initial state and u the command vector

k1 = f(x, u) k2 = f(x + dt * (k1 / 2), u) k3 = f(x + dt * (k2 / 2), u) k4 = f(x + dt * k3, u)

x_new = x + (dt / 6) * (k1 + 2 * (k2 + k3) + k4) is the integrated state vector x based on model f under command u

Parameters

xo	output integrated state
x	initial state
n	state dimension
u	command vector
m	command dimension
f	model function
dt	integration step

Definition at line 132 of file pprz_rk_float.h.

References f, float_vect_add(), float_vect_smul(), and float_vect_sum().

Referenced by ahrs_float_invariant_propagate(), and ins_float_invariant_propagate().

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