Drake
Simulation

Detailed Description

Modules

 Integrators
 Apart from solving initial value problems, for which the integrator is a key component of a simulator, integrators can also be used to solve boundary value problems (via numerical methods like the Multiple Shooting Method) and trajectory optimization problems (via numerical methods like direct transcription).
 
 Simulator configuration
 Configuration helpers to control Simulator and IntegratorBase settings.
 

Classes

struct  InitializeParams
 Parameters for fine control of simulator initialization. More...
 
class  Simulator< T >
 A class for advancing the state of hybrid dynamic systems, represented by System<T> objects, forward in time. More...