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38 lines
1.0 KiB
C
38 lines
1.0 KiB
C
#ifndef INTEGRATOR_C_INTF_H
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#define INTEGRATOR_C_INTF_H
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#include <stddef.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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int integrate(void);
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int integrate_1st_order_ode(const double* deriv, double* state);
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int integrate_2nd_order_ode(const double* acc, double* vel, double * pos);
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double get_integ_time(void);
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double get_integ_dt(void);
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double get_integ_target_time(void);
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void set_integ_time(double time_value);
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void reset_state();
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#ifndef USE_ER7_UTILS_INTEGRATORS
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void load_state_element(unsigned int index , double* state);
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#endif
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void load_state(double* arg1, ... );
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void load_deriv( double* arg1, ...);
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void load_deriv2( double* arg1, ...);
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void unload_state (double* arg1, ...);
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void load_indexed_state( unsigned int index, double state );
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void load_indexed_deriv( unsigned int index, double deriv );
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void load_indexed_deriv2(unsigned int index, double deriv2);
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double unload_indexed_state( unsigned int index );
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int get_intermediate_step(void);
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void set_intermediate_step(int intermediate_step_value);
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int get_integ_type(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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