FirstOrderLinearDS.hpp¶

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class FirstOrderLinearDS : public FirstOrderNonLinearDS

#include <>

First Order Linear Systems - \( M(t) \dot x = A(t)x(t)+ b(t) + r, \quad x(t_0)=x_0 \).

This class represents first order linear systems of the form:

\[ M(t) \dot x = A(t)x(t)+ b(t) + r, x(t_0)=x_0 \]

where

\( x \in R^{n} \) is the state,
\( r \in R^{n} \) the input due to the Non Smooth Interaction.
\( M \in R^{n\times n} \) is an invertible matrix
\( A \in R^{n\times n} \)
\( b \in R^{n} \)

The following operators can be plugged, in the usual way (see User Guide)

\( A(t) \)
\( b(t) \)
\( M(t) \)

Subclassed by FirstOrderLinearTIDS

Public Types

typedef void (*LDSPtrFunction)(double, unsigned int, double*, unsigned int, double*): plugin signature

Public Functions

FirstOrderLinearDS(SP::SiconosVector newX0, const std::string &APlugin, const std::string &bPlugin)

constructor from initial state and plugins

Parameters

newX0 – the initial state of this DynamicalSystem
APlugin – plugin for A
bPlugin – plugin for b

FirstOrderLinearDS(SP::SiconosVector newX0, SP::SiconosMatrix newA)

constructor from initial state and plugin for A

Parameters

newX0 – the initial state of this DynamicalSystem
newA – matrix A

FirstOrderLinearDS(SP::SiconosVector newX0)

constructor from initial state

Parameters: newX0 – the initial state of this DynamicalSystem

FirstOrderLinearDS(SP::SiconosVector newX0, SP::SiconosMatrix newA, SP::SiconosVector newB)

constructor from a initial state and constant matrices

Parameters

newX0 – the initial state of this DynamicalSystem
newA – matrix A
newB – b

FirstOrderLinearDS(const FirstOrderLinearDS &FOLDS)

Copy constructor.

Parameters: FOLDS – the original FirstOrderLinearDS we want to copy

inline virtual ~FirstOrderLinearDS(): destructor

virtual void initRhs(double time) override

Initialization function for the rhs and its jacobian.

Parameters: time – time of initialization.

virtual void computeRhs(double time) override

update right-hand side for the current state

Parameters: time – of interest

virtual void computeJacobianRhsx(double time) override

update \( \nabla_x rhs \) for the current state

Parameters: time – of interest

inline SP::SiconosMatrix A() const

get the matrix \( A \)

Returns: pointer (SP) on a matrix

inline virtual SP::SiconosMatrix jacobianfx() const override

get jacobian of f(x,t,z) with respect to x (pointer link)

Returns: SP::SiconosMatrix

inline void setAPtr(SP::SiconosMatrix newA)

set A to pointer newPtr

Parameters: newA – the new A matrix

void setA(const SiconosMatrix &newA)

set A to a new matrix

Parameters: newA – the new A matrix

inline SP::SiconosVector b() const

get b vector (pointer link)

Returns: a SP::SiconosVector

inline void setbPtr(SP::SiconosVector b)

set b vector (pointer link)

Parameters: b – a SiconosVector

void setb(const SiconosVector &b)

set b vector (copy)

Parameters: b – a SiconosVector

inline bool hasConstantA() const¶

inline bool hasConstantB() const¶

virtual void updatePlugins(double time) override

Call all plugged-function to initialize plugged-object values.

Parameters: time – value

void setComputeAFunction(const std::string &pluginPath, const std::string &functionName)

set a specified function to compute the matrix A => same action as setComputeJacobianfxFunction

Parameters

pluginPath – the complete path to the plugin
functionName – the function name to use in this plugin

void setComputeAFunction(LDSPtrFunction fct)

set a specified function to compute the matrix A

Parameters: fct – a pointer on a function

void setComputebFunction(const std::string &pluginPath, const std::string &functionName)

set a specified function to compute the vector b

Parameters

pluginPath – the complete path to the plugin file
functionName – the function name to use in this plugin

void setComputebFunction(LDSPtrFunction fct)

set a specified function to compute the vector b

Parameters: fct – a pointer on a function

void clearComputebFunction()¶

virtual void computeA(double time)

default function to compute matrix A => same action as computeJacobianfx

Parameters: time – time instant used to compute A

virtual void computeb(double time)

default function to compute vector b

Parameters: time – time instant used to compute b

inline SP::PluggedObject getPluginA() const

Get _pluginA.

Returns: the plugin for A

inline SP::PluggedObject getPluginB() const

Get _pluginb.

Returns: the plugin for b

inline void setPluginA(SP::PluggedObject newPluginA)

Set _pluginA.

Parameters: newPluginA – the new plugin

inline void setPluginB(SP::PluggedObject newPluginB)

Set _pluginb.

Parameters: newPluginB – the new plugin

virtual void display(bool brief = true) const override: data display on screen

inline virtual bool isLinear() override

True if the system is linear.

Returns: a boolean

ACCEPT_STD_VISITORS()¶

Protected Functions

ACCEPT_SERIALIZATION(FirstOrderLinearDS)¶

inline FirstOrderLinearDS()¶: default constructor

virtual void _zeroPlugin() override¶: Reset all the plugins.

Protected Attributes

SP::SiconosMatrix _A¶: matrix specific to the FirstOrderLinearDS \( A \in R^{n \times n} \)

SP::SiconosVector _b¶: vector specific to the FirstOrderLinearDS

SP::PluggedObject _pluginA¶

FirstOrderLinearDS plug-in to compute A(t,z), id = “A”.

Param time: : current time
Param sizeOfA: : size of square-matrix A
Param A: [inout] : pointer to the first element of A
Param size: of vector z
Param z: [inout] a vector of user-defined parameters

SP::PluggedObject _pluginb¶

FirstOrderLinearDS plug-in to compute b(t,z), id = “b”.

Param time: : current time
Param sizeOfB: : size of vector b
Param b: [inout] : pointer to the first element of b
Param size: of vector z
Param param: [inout] : a vector of user-defined parameters

bool _hasConstantA¶: boolean if _A is constant (set thanks to setBPtr for instance) false by default

bool _hasConstantB¶: boolean if _b is constant (set thanks to setBPtr for instance) false by default