Class LagrangianLinearTIR¶
Defined in Program listing for file kernel/src/modelingTools/LagrangianLinearTIR.hpp
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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
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inline LagrangianLinearTIR()¶
Default constructor.
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LagrangianLinearTIR(SP::SimpleMatrix C)¶
create the Relation from a set of data
- Parameters
C – the matrix C
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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
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LagrangianLinearTIR(SP::SimpleMatrix C, SP::SiconosVector e)¶
create the Relation from a set of data
- Parameters
C – the matrix C
e – the vector e
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virtual ~LagrangianLinearTIR() noexcept = default¶
destructor
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virtual void checkSize(Interaction &inter) override¶
check sizes of the relation specific operators.
- Parameters
inter – an Interaction using this relation
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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
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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
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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
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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
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inline void setCPtr(SP::SimpleMatrix newPtr)¶
set C to pointer newPtr
- Parameters
newPtr – a SP to plugged matrix
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inline void setDPtr(SP::SimpleMatrix newPtr)¶
set D to pointer newPtr
- Parameters
newPtr – a SP to plugged matrix
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inline void setFPtr(SP::SimpleMatrix newPtr)¶
set F to pointer newPtr
- Parameters
newPtr – a SP to plugged matrix
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inline void setEPtr(SP::SiconosVector newPtr)¶
set e to pointer newPtr
- Parameters
newPtr – a SP to plugged vector
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virtual void display() const override¶
print the data to the screen
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inline virtual bool isLinear() override¶
- Returns
true if the relation is linear.
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inline LagrangianLinearTIR()¶