text: /*
   * Copyright (c) 2011-2016, Humanoid Lab, Georgia Tech Research Corporation
   * Copyright (c) 2011-2017, Graphics Lab, Georgia Tech Research Corporation
   * Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
   * All rights reserved.
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "dart/integration/SemiImplicitEulerIntegrator.hpp"
  
  namespace dart {
  namespace integration {
  
  //==============================================================================
  SemiImplicitEulerIntegrator::SemiImplicitEulerIntegrator()
    : Integrator()
  {
  }
  
  //==============================================================================
  SemiImplicitEulerIntegrator::~SemiImplicitEulerIntegrator()
  {
  }
  
  //==============================================================================
  void SemiImplicitEulerIntegrator::integrate(IntegrableSystem* _system,
                                              double _dt)
  {
    _system->integrateGenVels(_system->evalGenAccs(), _dt);
    _system->integrateConfigs(_system->getGenVels(), _dt);
  }
  
  //==============================================================================
  void SemiImplicitEulerIntegrator::integratePos(IntegrableSystem* _system,
                                                 double _dt)
  {
    _system->integrateConfigs(_system->getGenVels(), _dt);
  }
  
  //==============================================================================
  void SemiImplicitEulerIntegrator::integrateVel(IntegrableSystem* _system,
                                                 double _dt)
  {
    _system->integrateGenVels(_system->evalGenAccs(), _dt);
  }
  
  }  // namespace integration
  }  // namespace dart
  