Program listing for file kernel/src/modelingTools/LagrangianCompliantR.hpp

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#ifndef LagrangianCompliantR_H
#define LagrangianCompliantR_H

#include "LagrangianR.hpp"


class LagrangianCompliantR : public LagrangianR
{

protected:

  ACCEPT_SERIALIZATION(LagrangianCompliantR);



  SP::PluggedObject _pluginJachlambda;


  LagrangianCompliantR() : LagrangianR(RELATION::CompliantR) {  };


  void initialize(Interaction& inter);


  virtual void checkSize(Interaction& inter);

  void _zeroPlugin();

public:


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


  virtual ~LagrangianCompliantR() {};


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


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


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


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

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

  void computeJach(double time, Interaction& inter);


  void computeJacg(double time, Interaction& inter)
  {
    ;
  }

  ACCEPT_STD_VISITORS();

};

TYPEDEF_SPTR(LagrangianCompliantR)

#endif