Class CircleCircleR

Class CircleCircleR#

Defined in Program listing for file mechanics/src/collision/native/bodies/CircleCircleR.hpp

class CircleCircleR : public CircularR, public std::enable_shared_from_this<CircleCircleR>#

Two disks relation - Inherits from LagrangianScleronomousR.

Public Functions

CircleCircleR(double rdisk1, double rdisk2)#

Constructor.

Parameters:

  • rdisk1 – radius

  • rdisk2 – radius

virtual double distance(double x1, double y1, double r1, double x2, double y2, double r2)#

compute distance between 2 disks

Parameters:

  • x1 – x position of first disk

  • y1 – y position of first disk

  • r1 – radius of first disk

  • x2 – x position of second disk

  • y2 – y position of second disk

  • r2 – radius of second disk

Returns:

distance

void computeh(const BlockVector &q, BlockVector &z, SiconosVector &y)#

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

Parameters:

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

  • z – user defined parameters (optional)

  • y – the resulting vector

void computeJachq(const BlockVector &q, BlockVector &z)#

to compute the jacobian of h(…).

Set attribute _jachq (access: jacqhq())

Parameters:

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

  • z – user defined parameters (optional)

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