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Class LagrangianCompliantR

Class LagrangianCompliantR#

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

class LagrangianCompliantR : public LagrangianR#

Lagrangian Compliant Relation: Scleronomous, Non-Holonomic (function of lambda)

\( Y[0] = y = h(q,\lambda(t),z) \)

\( Y[1] = \dot y = G0(q,\lambda(t),z)\dot q + G1((q,\lambda(t),z)\dot\lambda(t) \)

\( p = G0^t(q,\lambda(t),z)\lambda(t) \)

with \( G0(q,\lambda(t),z) = \nabla_q h(q,\lambda(t),z) \)

\( G1(q,\lambda(t),z) = \nabla_{\lambda}h(q,\lambda(t),z) \)

h, G0 and G1 are connected to user-defined functions.

Public Functions

LagrangianCompliantR(const std::string &pluginh, const std::string &pluginJacobianhq, const std::string &pluginJacobianhlambda)#

constructor from a set of data

Parameters:

  • pluginh – the name of the plugin to compute h

  • pluginJacobianhq – the name of the plugin to compute the gradient of h w.r.t q

  • pluginJacobianhlambda – the name of the plugin to compute the gradient of h w.r.t \( \lambda \)

virtual ~LagrangianCompliantR() noexcept = default#

destructor

virtual void computeh(double time, const BlockVector &q, const SiconosVector &lambda, BlockVector &z, SiconosVector &y)#

to compute the output y = h(q,z) of the Relation

Parameters:

  • time – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • lambda – interaction \( \lambda \) vector

  • z – user defined parameters (optional)

  • y – the resulting vector

virtual void computeJachq(double time, const BlockVector &q, const SiconosVector &lambda, BlockVector &z)#

to compute the jacobian of h(…).

Set attribute _jachq (access: jacqhq())

Parameters:

  • time – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • lambda – interaction \( \lambda \) vector

  • z – user defined parameters (optional)

virtual void computeJachlambda(double time, const BlockVector &q0, const SiconosVector &lambda, BlockVector &z)#

compute the jacobian of h w.r.t.

\( \lambda \) . Set attribute _jachlambda (access: jacqhlambda())

Parameters:

  • time – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • lambda – interaction \( \lambda \) vector

  • z – user defined parameters

virtual void computeOutput(double time, Interaction &inter, unsigned int derivativeNumber = 0) override#

to compute output

Parameters:

  • time – the current time

  • inter – the Interaction owning y

  • derivativeNumber – the number of the derivative to compute, optional, default = 0.

virtual void computeInput(double time, Interaction &inter, unsigned int level = 0) override#

to compute the input

Parameters:

  • time – the current time

  • inter – the Interaction owning lambda

  • level – “derivative” order of lambda used to compute input

virtual void computeJach(double time, Interaction &inter) override#

compute all the H Jacobian

inline virtual void computeJacg(double time, Interaction &inter) override#

compute all the G Jacobian

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