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#ifndef SimTK_SIMMATH_EXPLICIT_EULER_INTEGRATOR_H_
#define SimTK_SIMMATH_EXPLICIT_EULER_INTEGRATOR_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKmath *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2011-12 Stanford University and the Authors. *
* Authors: Peter Eastman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "SimTKcommon.h"
#include "simmath/internal/common.h"
#include "simmath/Integrator.h"
namespace SimTK {
class ExplicitEulerIntegratorRep;
/**
* This is an Integrator based on the explicit Euler algorithm. It is an
* error controlled, first order explicit integrator. This is one of the simplest
* integrators possible. As such, it is useful as a test case, but usually is
* a bad choice for real simulations.
*/
class SimTK_SIMMATH_EXPORT ExplicitEulerIntegrator : public Integrator {
public:
/**
* Create an ExplicitEulerIntegrator for integrating a System with variable sized steps.
*/
explicit ExplicitEulerIntegrator(const System& sys);
/**
* Create an ExplicitEulerIntegrator for integrating a System with fixed sized steps.
*/
ExplicitEulerIntegrator(const System& sys, Real stepSize);
};
} // namespace SimTK
#endif // SimTK_SIMMATH_EXPLICIT_EULER_INTEGRATOR_H_
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