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

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#ifndef LagrangianScleronomousR_H
#define LagrangianScleronomousR_H

#include "LagrangianR.hpp"
#include "SimpleMatrixFriends.hpp"

class LagrangianScleronomousR : public LagrangianR
{

protected:

  ACCEPT_SERIALIZATION(LagrangianScleronomousR);



  SP::PluggedObject _plugindotjacqh;


  SP::SiconosVector _dotjacqhXqdot;


  virtual void _zeroPlugin();


  LagrangianScleronomousR(): LagrangianR(RELATION::ScleronomousR)
  {
    _zeroPlugin();
  }



public:


  LagrangianScleronomousR(const std::string& pluginh, const std::string& pluginJacobianhq);


  LagrangianScleronomousR(const std::string& pluginh, const std::string& pluginJacobianhq, const std::string& pluginDotJacobianhq);


  virtual ~LagrangianScleronomousR() {};


  inline SP::SiconosVector dotjacqhXqdot()
  {
    return _dotjacqhXqdot;
  };


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


  virtual void computeJachq(SiconosVector& q, SiconosVector& z);


  void computedotjacqhXqdot(double time, Interaction& inter, VectorOfBlockVectors& DSlink);


  void computeJach(double time, Interaction& inter);


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


  virtual void computeDotJachq(SiconosVector& q, SiconosVector& z, SiconosVector& qDot);


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


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

  virtual void initialize(Interaction& inter);


  virtual void checkSize(Interaction& inter);

  ACCEPT_STD_VISITORS();

};

TYPEDEF_SPTR(LagrangianScleronomousR)

#endif