File kernel/src/simulationTools/ExtraAdditionalTerms.hpp¶
Go to the source code of this file
base class for struct of functions adding optional integration terms
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struct ExtraAdditionalTerms¶
Public Functions
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virtual void init(DynamicalSystemsGraph &DSG0, const NonSmoothDynamicalSystem &nsds, const TimeDiscretisation &td) = 0¶
initialize elements in the graph for the computations
- Parameters
DSG0 – the graph of DynamicalSystems
model – the current Model
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virtual void addSmoothTerms(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, SiconosVector &xfree) = 0¶
add smooth term to xfree (like the control input, the error correction for an observer)
- Parameters
DSG0 – the graph of DynamicalSystems
dsgVD – a DynamicalSystem in the DS graph
h – the current timestep
xfree – the free state to modify
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virtual void addJacobianRhsContribution(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, SiconosMatrix &jacRhs) = 0¶
add contribution to JacRhs for instance if \(\dot{x} = f(x) + g(x)u\)
- Parameters
DSG0 – the graph of DynamicalSystems
dsgVD – a DynamicalSystem in the DS graph
h – the current timestep
jacRhs – the jacobian to modify
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inline virtual ~ExtraAdditionalTerms()¶
Desctructor.
Private Functions
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ACCEPT_SERIALIZATION(ExtraAdditionalTerms)¶
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virtual void init(DynamicalSystemsGraph &DSG0, const NonSmoothDynamicalSystem &nsds, const TimeDiscretisation &td) = 0¶