File kernel/src/modelingTools/LagrangianCompliantR.hpp

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class LagrangianCompliantR : public LagrangianR

#include <LagrangianCompliantR.hpp>

Lagrangian Compliant Relation: Scleronomous, Non-Holonomic (function of lambda)

\( Y[0] = y = h(q,\lambda(t),z) \)

\( Y[1] = \dot y = G0(q,\lambda(t),z)\dot q + G1((q,\lambda(t),z)\dot\lambda(t) \)

\( p = G0^t(q,\lambda(t),z)\lambda(t) \)

with \( G0(q,\lambda(t),z) = \nabla_q h(q,\lambda(t),z) \)

\( G1(q,\lambda(t),z) = \nabla_{\lambda}h(q,\lambda(t),z) \)

h, G0 and G1 are connected to user-defined functions.

Public Functions

LagrangianCompliantR(const std::string &pluginh, const std::string &pluginJacobianhq, const std::string &pluginJacobianhlambda)

constructor from a set of data

Parameters:

• pluginh – the name of the plugin to compute h

• pluginJacobianhq – the name of the plugin to compute the gradient of h w.r.t q

• pluginJacobianhlambda – the name of the plugin to compute the gradient of h w.r.t \( \lambda \)

virtual ~LagrangianCompliantR() noexcept = default

destructor

virtual void computeh(double time, const BlockVector &q, const SiconosVector &lambda, BlockVector &z, SiconosVector &y)

to compute the output y = h(q,z) of the Relation

Parameters:

• time – current time value

• q – coordinates of the dynamical systems involved in the relation

• lambda – interaction \( \lambda \) vector

• z – user defined parameters (optional)

• y – the resulting vector

virtual void computeJachq(double time, const BlockVector &q, const SiconosVector &lambda, BlockVector &z)

to compute the jacobian of h(…).

Set attribute _jachq (access: jacqhq())

Parameters:

• time – current time value

• q – coordinates of the dynamical systems involved in the relation

• lambda – interaction \( \lambda \) vector

• z – user defined parameters (optional)

virtual void computeJachlambda(double time, const BlockVector &q0, const SiconosVector &lambda, BlockVector &z)

compute the jacobian of h w.r.t.

\( \lambda \) . Set attribute _jachlambda (access: jacqhlambda())

Parameters:

• time – current time value

• q – coordinates of the dynamical systems involved in the relation

• lambda – interaction \( \lambda \) vector

• z – user defined parameters

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

to compute output

Parameters:

• time – the current time

• inter – the Interaction owning y

• derivativeNumber – the number of the derivative to compute, optional, default = 0.

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

to compute the input

Parameters:

• time – the current time

• inter – the Interaction owning lambda

• level – “derivative” order of lambda used to compute input

virtual void computeJach(double time, Interaction &inter) override

compute all the H Jacobian

inline virtual void computeJacg(double time, Interaction &inter) override

compute all the G Jacobian

ACCEPT_STD_VISITORS()

Protected Functions

ACCEPT_SERIALIZATION(LagrangianCompliantR)

inline LagrangianCompliantR()

default constructor

virtual void initialize(Interaction &inter) override

initialize G matrices or components specific to derived classes

Parameters:

inter – : the Interaction

virtual void checkSize(Interaction &inter) override

check sizes of the relation specific operators.

Parameters:

inter – an Interaction using this relation

virtual void _zeroPlugin() override

To initialize all the plugin functions with nullptr.

Protected Attributes

SP::PluggedObject _pluginJachlambda = {nullptr}

LagrangianR plug-in to compute h(q,lambda,z)

Param sizeDS:

: sum of the sizes of all the DynamicalSystems involved in the interaction

Param q:

: pointer to the first element of q

Param sizeY:

: size of vector y (ie of lambda and of the interaction)

Param lambda:

: pointer to lambda of the interaction

Param y:

[inout] : pointer to the first element of y

Param sizeZ:

: size of vector z.

Param z:

[inout] : a vector of user-defined parameters