Class LagrangianLinearTIR

Class LagrangianLinearTIR#

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

class LagrangianLinearTIR : public LagrangianR#

Lagrangian Linear Relation.

Lagrangian Relation with:

\( y= Cq + e + Fz \)

\( p = C^t \lambda \)

C is the only required input to built a LagrangianLinearTIR.

Public Functions

inline LagrangianLinearTIR()#

Default constructor.

LagrangianLinearTIR(SP::SimpleMatrix C)#

create the Relation from a set of data

Parameters:

C – the matrix C

LagrangianLinearTIR(SP::SimpleMatrix C, SP::SimpleMatrix F, SP::SiconosVector e)#

create the Relation from a set of data

Parameters:

  • C – the matrix C

  • F – the matrix F

  • e – the vector e

LagrangianLinearTIR(SP::SimpleMatrix C, SP::SiconosVector e)#

create the Relation from a set of data

Parameters:

  • C – the matrix C

  • e – the vector e

virtual ~LagrangianLinearTIR() noexcept = default#

destructor

virtual void checkSize(Interaction &inter) override#

check sizes of the relation specific operators.

Parameters:

inter – an Interaction using this relation

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

default function to compute y

Parameters:

  • time – not used

  • inter – the Interaction we want to update

  • derivativeNumber – the derivative of y we want to compute

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

default function to compute r

Parameters:

  • time – not used

  • inter – the Interaction we want to update

  • level – the derivative of lambda we want to compute

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

compute all the H Jacobian

Parameters:

  • time – not used

  • inter – the Interaction we want to update

  • interProp – interaction properties

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

compute all the G Jacobian

Parameters:

  • time – not used

  • inter – the Interaction we want to update

  • interProp – interaction properties

inline virtual SP::SimpleMatrix C() const override#
Returns:

pointer on a plugged matrix

inline void setCPtr(SP::SimpleMatrix newPtr)#

set C to pointer newPtr

Parameters:

newPtr – a SP to plugged matrix

inline SP::SimpleMatrix D() const#
Returns:

pointer on a plugged matrix

inline void setDPtr(SP::SimpleMatrix newPtr)#

set D to pointer newPtr

Parameters:

newPtr – a SP to plugged matrix

inline SP::SimpleMatrix F() const#
Returns:

pointer on a plugged matrix

inline void setFPtr(SP::SimpleMatrix newPtr)#

set F to pointer newPtr

Parameters:

newPtr – a SP to plugged matrix

inline SP::SiconosVector e() const#
Returns:

pointer on a plugged vector

inline void setEPtr(SP::SiconosVector newPtr)#

set e to pointer newPtr

Parameters:

newPtr – a SP to plugged vector

virtual void display() const override#

print the data to the screen

inline virtual bool isLinear() override#
Returns:

true if the relation is linear.

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