Class FirstOrderLinearDS

Defined in Program listing for file kernel/src/modelingTools/FirstOrderLinearDS.hpp

class FirstOrderLinearDS : public FirstOrderNonLinearDS

First Order Linear Systems - \(M(t) \dot x = A(t)x(t)+ b(t) + r, \quad x(t_0)=x_0\).

This class represents first order linear systems of the form:

\[M(t) \dot x = A(t)x(t)+ b(t) + r, x(t_0)=x_0\]

where

  • \(x \in R^{n} \) is the state,
  • \(r \in R^{n} \) the input due to the Non Smooth Interaction.
  • \(M \in R^{n\times n} \) is an invertible matrix
  • \(A \in R^{n\times n}\)
  • \(b \in R^{n} \)

The following operators can be plugged, in the usual way (see User Guide)

  • \(A(t)\)
  • \(b(t)\)
  • \(M(t)\)

Subclassed by FirstOrderLinearTIDS

Right-hand side computation

void initRhs(double time)

Initialization function for the rhs and its jacobian.

Parameters
  • time: time of initialization.

void computeRhs(double time)

update right-hand side for the current state

Parameters
  • time: of interest

void computeJacobianRhsx(double time)

update \(\nabla_x rhs\) for the current state

Parameters
  • time: of interest

Attributes access

SP::SiconosMatrix A() const

get the matrix \(A\)

Return
pointer (SP) on a matrix

virtual SP::SiconosMatrix jacobianfx() const

get jacobian of f(x,t,z) with respect to x (pointer link)

Return
SP::SiconosMatrix

void setAPtr(SP::SiconosMatrix newA)

set A to pointer newPtr

Parameters
  • newA: the new A matrix

void setA(const SiconosMatrix &newA)

set A to a new matrix

Parameters
  • newA: the new A matrix

SP::SiconosVector b() const

get b vector (pointer link)

Return
a SP::SiconosVector

void setbPtr(SP::SiconosVector b)

set b vector (pointer link)

Parameters

void setb(const SiconosVector &b)

set b vector (copy)

Parameters

Plugins management

virtual void updatePlugins(double time)

Call all plugged-function to initialize plugged-object values.

Parameters
  • time: value

void setComputeAFunction(const std::string &pluginPath, const std::string &functionName)

set a specified function to compute the matrix A => same action as setComputeJacobianfxFunction

Parameters
  • pluginPath: the complete path to the plugin
  • functionName: the function name to use in this plugin
Exceptions

void setComputeAFunction(LDSPtrFunction fct)

set a specified function to compute the matrix A

Parameters
  • fct: a pointer on a function

void setComputebFunction(const std::string &pluginPath, const std::string &functionName)

set a specified function to compute the vector b

Parameters
  • pluginPath: the complete path to the plugin file
  • functionName: the function name to use in this plugin
Exceptions

void setComputebFunction(LDSPtrFunction fct)

set a specified function to compute the vector b

Parameters
  • fct: a pointer on a function

virtual void computeA(double time)

default function to compute matrix A => same action as computeJacobianfx

Parameters
  • time: time instant used to compute A

virtual void computeb(double time)

default function to compute vector b

Parameters
  • time: time instant used to compute b

SP::PluggedObject getPluginA() const

Get _pluginA.

Return
the plugin for A

SP::PluggedObject getPluginB() const

Get _pluginb.

Return
the plugin for b

void setPluginA(SP::PluggedObject newPluginA)

Set _pluginA.

Parameters
  • newPluginA: the new plugin

void setPluginB(SP::PluggedObject newPluginB)

Set _pluginb.

Parameters
  • newPluginB: the new plugin

Miscellaneous public methods

void display() const

data display on screen

virtual bool isLinear()

True if the system is linear.

Return
a boolean

Public Types

typedef void (*LDSPtrFunction)(double, unsigned int, double *, unsigned int, double *)

plugin signature

Public Functions

FirstOrderLinearDS(SP::SiconosVector newX0, const std::string &APlugin, const std::string &bPlugin)

constructor from initial state and plugins

Parameters
  • newX0: the initial state of this DynamicalSystem
  • APlugin: plugin for A
  • bPlugin: plugin for b

FirstOrderLinearDS(SP::SiconosVector newX0, SP::SiconosMatrix newA)

constructor from initial state and plugin for A

Parameters

FirstOrderLinearDS(SP::SiconosVector newX0)

constructor from initial state

Parameters

FirstOrderLinearDS(SP::SiconosVector newX0, SP::SiconosMatrix newA, SP::SiconosVector newB)

constructor from a initial state and constant matrices

Parameters

FirstOrderLinearDS(const FirstOrderLinearDS &FOLDS)

Copy constructor.

Parameters

virtual ~FirstOrderLinearDS()

destructor