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.