Guides

Users’ guide

Everything about modeling, simulation and control of nonsmooth dynamical systems in Siconos.

• Users guide
  • Linear Algebra in Siconos
    • Matrices and vectors handling in kernel component
    • Matrix Storage in numerics component
  • Modeling of non-smooth dynamical systems
    • Modeling Principle
    • Dynamical Systems
      • Overview
      • Common interface
      • First order dynamical systems
        • Non linear
        • Linear
      • Second order (Lagrangian) systems
        • Non linear
        • Linear and time-invariant
      • Dynamical Systems plug-in functions
    • Interactions between dynamical systems
      • Relations
        • First Order Relations
        • Lagrangian (second order) Relations
        • Relations plug-in functions
      • Non Smooth Laws
        • Complementarity Condition
        • Newton Impact
        • Newton Impact-Friction
        • Relay
    • User-defined plugins
  • Simulation of non-smooth dynamical systems
    • Time discretisation
    • Time integration of the dynamics
    • Event-Capturing schemes
      • General Principle
      • First order systems
        • Time Discretisation of the Dynamics
        • Time discretization of the relations
        • Discretisation of the non-smooth law
      • Lagrangian systems
        • Time Discretisation of the Dynamics
        • Time discretization of the relations
        • Time discretization of the Non Smooth laws
      • Summary of the time discretized equations
        • First order systems
        • Lagrangian second-order systems
    • Event-Driven schemes
      • General Principle
      • Event Driven implementation
        • Integration of the smooth dynamics
        • Events
        • The Events manager
      • The Simulation process
      • Event Driven algorithm for Lagrangian systems
        • The impact equations
        • The smooth Dynamics
      • The algorithm
        • Implementation in Siconos
    • Nonsmooth problems formulation and solve
      • The Simulation process
      • Customize simulation behavior
  • Nonsmooth problems formulations and available solvers
    • Write and solve a problem with Siconos
      • Create a problem
      • Create and describe a solver
        • dparam indices common to all solvers
        • iparam indices common to all solvers
      • Solve a problem
        • Variational Inequality (VI)
        • Quadratic Programming problems (QP)
        • Convex Quadratic Programming (ConvexQP) problems
        • Linear Complementarity Problems (LCP)
        • Affine Variational Inequalities (AVI)
        • Mixed (Non Linear) Complementarity problem (MCP)
        • Mixed Linear Complementarity Problems (MLCP)
        • Nonlinear Complementarity Problems (NCP)
        • Relay or box-constrained AVI problems
        • Second Order Cone Linear Complementarity Problem (SOCLCP)
        • Friction-contact problems (2 or 3D)
        • Global-Friction-contact problems (2D or 3D)
        • Rolling friction-contact problems
        • Generic mechanical problems
  • Control Toolbox
    • Control Manager
    • Sensors
    • Actuators

Siconos API

Documentation generated from sources (C++ and Python) : classes members and methods descriptions, functions prototypes …

• API reference
  • Siconos C++ API
  • Siconos Python API
    • Main packages

Developpers’ corner

For people who contribute to siconos

• Developer guide
  • Writing and building documention for Siconos Software
    • Documentation overview
    • How to write Siconos documentation
      • Writing textbooks
      • Document source code
        • References to sphinx documents
        • Math and latex
    • Building process
      • Tools, config and description
  • Adding a new solver in numerics
  • Time integration of the dynamics - Exact scheme
    • Summary
    • Detailed calculations
      • Taylor expansions
      • Non-smooth problem formulation
  • Continuous integration for Siconos project
  • OneStepNSProblem formalisation for several interactions
    • LinearDS - Linear Time Invariant Relations
  • Todo List
  • Test doxygen/sphinx links