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

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()

destructor

SP::SimpleMatrix C() const

get C

Return
pointer on a plugged matrix

void checkSize(Interaction &inter)

initialize LagrangianLinearTIR specific operators.

Parameters
  • inter: an Interaction using this relation check sizes of the relation specific operators.
  • inter: an Interaction using this relation

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

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

void computeJach(double time, Interaction &inter)

compute all the H Jacobian

Parameters
  • time: the current time
  • inter: the interaction using this relation

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

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

SP::SimpleMatrix D() const

get D

Return
pointer on a plugged matrix

void display() const

get a pointer on matrix Jach[index]

Return
a pointer on a SimpleMatrixprint the data to the screen

SP::SiconosVector e() const

get e

Return
pointer on a plugged vector

SP::SimpleMatrix F() const

get F

Return
pointer on a plugged matrix

virtual bool isLinear()

Return
true if the relation is linear.

void setCPtr(SP::SimpleMatrix newPtr)

set C to pointer newPtr

Parameters
  • newPtr: a SP to plugged matrix

void setDPtr(SP::SimpleMatrix newPtr)

set D to pointer newPtr

Parameters
  • newPtr: a SP to plugged matrix

void setEPtr(SP::SiconosVector newPtr)

set e to pointer newPtr

Parameters
  • newPtr: a SP to plugged vector

void setFPtr(SP::SimpleMatrix newPtr)

set F to pointer newPtr

Parameters
  • newPtr: a SP to plugged matrix