| Summary: | A Lagrange--d'Alembert integrator is a geometric numerical method for finding numerical solutions to the Lagrange--d'Alembert equations for mechanical systems with nonholonomic constraints that are linear in the velocities. The integrator is developed from geometry and principles that are analogues of the continuous theory.<p>Using discrete analogues of the symplectic form and momentum map, the resulting methods are symplectic and momentum preserving whenever the continuous system is symplectic and momentum preserving. In addition, it is possible to, in principle, generate Lagrange--d'Alembert integrators of any method order.
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