Class NonSmoothLaw#
Defined in Program listing for file kernel/src/modelingTools/NonSmoothLaw.hpp
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class NonSmoothLaw#
Non Smooth Laws (NSL) Base Class.
This class is the base class for all nonsmooth laws in Siconos. A nonsmooth law characterize the (nonsmooth) relationship between 2 variables, usually designated by \( y \) and \( \lambda \). \( y \) is most of time seen as the “input” from DynamicalSystems and is given by a Relation linked to this nonsmoothlaw. \( \lambda \) is then the “output” and through the same Relation is fed back to one or more DynamicalSystem.
classical examples of nonsmooth law include:
RelayNSL: \( -y \in \mathcal{N}_{[-1,1]}(\lambda)\quad \Longleftrightarrow\quad -\lambda \in \mbox{sgn} (y) \)
NormalConeNSL: given a polytope \( K \), \( -\lambda \in \partial \sigma_{-K}(y)\quad\Longleftrightarrow\quad y\in\mathcal{N}_{-K}(-\lambda) \)
ComplementarityConditionNSL: \( 0\leq y \perp \lambda \geq 0 \)
NewtonImpactNSL and NewtonImpactFrictionNSL for impact, without or with friction
MultipleImpactNSL for a multiple impact law
The computation of both \( y \) and \( \lambda \) is carried on by a solver in Numerics through a OneStepNSProblem object.
Subclassed by ComplementarityConditionNSL, EqualityConditionNSL, FremondImpactFrictionNSL, MixedComplementarityConditionNSL, MultipleImpactNSL, NewtonImpactFrictionNSL, NewtonImpactNSL, NewtonImpactRollingFrictionNSL, NormalConeNSL, RelayNSL
Public Functions
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inline NonSmoothLaw(unsigned int size)#
basic constructor
- Parameters:
size – the nonsmooth law size
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virtual ~NonSmoothLaw() noexcept = default#
destructor
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inline virtual bool isVerified() const#
- Returns:
a boolean value which determines if the NS Law is verified. Not implemented for the moment.
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inline unsigned int size() const#
- Returns:
the size of the NS law
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virtual void display() const = 0#
display the data of the NonSmoothLaw on the standard output