Class PartitionedIntegrator

Class PartitionedIntegrator#

Inheritance Relationships#

Base Type#

Derived Type#

Class Documentation#

class PartitionedIntegrator : public Karana::Integrators::Integrator#

Abstract integrator for states packed as [Q, U].

This class provides validation checks used by child classes.

Subclassed by Karana::Integrators::ExplicitVerletIntegrator

Public Functions

PartitionedIntegrator(const IntegratorType &integrator_type, size_t num_states, size_t num_q_states, DerivativeFunction deriv_fn, const IntegratorOptions *options = nullptr)#

Establish the Q/U layout and derivative callback.

Parameters:

  • integrator_type – Concrete algorithm identifier.

  • num_states – Total number of Q and U states.

  • num_q_states – Number of leading Q states.

  • deriv_fn – Full-state derivative callback; required for nonempty systems.

  • options – Algorithm options, or nullptr for defaults.

virtual void hardReset(size_t num_states, size_t num_q_states) override#

Replace both dimensions after checking the new partition.

Parameters:

  • num_states – New total number of states.

  • num_q_states – New number of leading Q states.

virtual void softReset(const km::Ktime &new_t, const km::Vec &new_x) override#

Replace time and values without changing the partition.

Parameters:

  • new_t – New current time.

  • new_x – State vector with exactly nStates() entries.

virtual km::Ktime advanceTo(const km::Ktime &to_t) final#

Check the target time and take one algorithm step.

Parameters:

to_t – Target time, at or after the current time.

Returns:

The target time after a successful step.

Protected Functions

void _validatePartition(size_t num_states, size_t num_q_states) const#

Require nonempty Q and U blocks for a nonempty system.

Parameters:

  • num_states – Proposed total number of states.

  • num_q_states – Proposed number of Q states; its upper bound is checked by Integrator.

virtual void _step(const km::Ktime &to_t) = 0#

Advance a nonempty system by one strictly positive step.

Parameters:

to_t – Target time checked by advanceTo; the child commits time and state.

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