Class Lagrangian2d1DR¶
Defined in Program listing for file kernel/src/modelingTools/Lagrangian2d1DR.hpp
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class Lagrangian2d1DR : public LagrangianScleronomousR¶
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This class is an interface for a relation with impact. It implements the computation of the jacoboian of h from the points of contacts and the normal. Use this class consists in overloading the method computeh, by setting the member pc1, pc2, nc and y. The matrix jachq is used both for the building of the OSNSP (with T) and for the predictor of activation of deactivation of the Interaction.
Public Functions
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inline Lagrangian2d1DR()¶
constructorx
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inline virtual ~Lagrangian2d1DR() noexcept¶
destructor
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virtual void initialize(Interaction &inter) override¶
initialize the relation (check sizes, memory allocation …)
- Parameters
inter – the interaction using this relation
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virtual void computeh(const BlockVector &q, BlockVector &z, SiconosVector &y) override¶
to compute the output y = h(q,z) of the Relation
- Parameters
q – coordinates of the dynamical systems involved in the relation
z – user defined parameters (optional)
y – the resulting vector
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virtual void computeJachq(const BlockVector &q, BlockVector &z) override¶
to compute the jacobian of h(…).
Set attribute _jachq (access: jacqhq())
- Parameters
q – coordinates of the dynamical systems involved in the relation
z – user defined parameters (optional)
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double distance() const¶
Return the distance between pc1 and pc, with sign according to normal.
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inline void setRelNc(SP::SiconosVector nnc)¶
Set the coordinates of inside normal vector at the contact point in ds2 frame.
It will be used to compute _Nc during computeh().
- Parameters
nnc – new coordinates
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virtual void display() const override¶
main relation members display
Public Members
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bool _isOnContact = false¶
V.A.
boolean _isOnCOntact ?? Why is it public members ? seems parametrize the projection algorithm the projection is done on the surface \(y=0\) or on \(y \geq 0\)
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inline Lagrangian2d1DR()¶