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File io/src/mechanics/MechanicsIO.hpp

File io/src/mechanics/MechanicsIO.hpp#

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class MechanicsIO

Public Functions

inline MechanicsIO()

default constructor

SP::SimpleMatrix positions(const NonSmoothDynamicalSystem &nsds) const

get all positions: translation (x,y,z) + orientation quaternion (qw, qx, qy, qz)

Parameters:

nsds – current nonsmooth dynamical system

Returns:

a SP::SimpleMatrix where the columns are id, x, y, z, qw, qx, qy, qz id is the DynamicalSystem number + 1

SP::SimpleMatrix velocities(const NonSmoothDynamicalSystem &nsds) const

get all velocities: translation (xdot, ydot, zdot) + orientation velocities ox, oy, oz

Parameters:

nsds – current nonsmooth dynamical system

Returns:

a matrix where the columns are id, xdot, ydot, zdot, ox, oy, oz id is the DynamicalSystem number + 1

SP::SimpleMatrix contactPoints(const NonSmoothDynamicalSystem &nsds, unsigned int index_set = 1) const

get the coordinates of all contact points, normals, reactions and velocities

Parameters:

  • nsds – current nonsmooth dynamical system

  • index_set – the index set number.

Returns:

a matrix where the columns are mu x y z, nx, ny, nz, rx, ry, rz, vx, vy, vz, ox, oy, oz, id

SP::SimpleMatrix contactInfo(const NonSmoothDynamicalSystem &nsds, unsigned int index_set = 1) const

get the contact information that is the ds linked by the interaction

Parameters:

  • nsds – current nonsmooth dynamical system

  • index_set – the index set number.

Returns:

a matrix where the columns are interaction id, ds1 number, ds2 number, static object number (if possible)

SP::SimpleMatrix contactContactWork(const NonSmoothDynamicalSystem &nsds, unsigned int index_set = 1, double omega = 0.5, double tol = 1e-08) const

get the dissipation values of all contact points

Parameters:

  • nsds – current nonsmooth dynamical system

  • index_set – the index set number.

  • omega – the value of the weigth for the weight in the computaion of the contact work by default omega =1/2 and the contact work corresponds to the theoretical formula 1/2 (v^+ + v^-)^\top p otherwise it corresponds to v_{k+omega} p

  • tol – double for the computation of contact status

Returns:

a matrix where the columns are id, normal contact work, tangent contact work, friction dissipation, contact status

SP::SimpleMatrix domains(const NonSmoothDynamicalSystem &nsds) const

get the domain of each contact point

Parameters:

nsds – current nonsmooth dynamical system

Returns:

a matrix where the columns are domain, id

Protected Functions

template<typename T, typename G>
SP::SimpleMatrix visitAllVerticesForVector(const G &graph) const#
template<typename T, typename G>
SP::SiconosVector visitAllVerticesForDouble(const G &graph) const#
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