Energid Technologies' Actin approach is multifaceted, with algorithmic, language, and software-implementation components. The core velocity framework is based on a number of unique, patented methods for iterative linearization and solution of the equations of motion. It is implemented using a tree structure. This tree structure exists in the C++ code and is defined using XML.

Large, fielded control systems are typically complex, with many patches and logical paths added by the development team. Though based on logically encapsulated equations from textbooks and academic papers, fielded control systems transcend them. The Actin Toolkit embraces this phenomenon by organizing the control system and all supporting mathematics into a flexible logical tree that can better represent the additions and modifications that otherwise might be informally added to the control system. It also provides a method of organization that supports dynamic programming-the storage of subproblem solutions to prevent duplicate calculation.

For detailed information on the algorithms and data structures that make up Actin, please download our Actin whitepaper.