Class DiskMovingPlanR

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

class DiskMovingPlanR : public LagrangianRheonomousR, public std::enable_shared_from_this<DiskMovingPlanR>

Public Functions

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

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

Parameters

• time – current time value

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

• z – user defined parameters (optional)

• y – the resulting vector

void computeJachq(double time, const BlockVector &q, 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

• z – user defined parameters (optional)

void computehDot(double time, const BlockVector &q, BlockVector &z)

to compute the time-derivative of the output y = h(t,q,z), saved in attribute _hDot (access: hDot())

Parameters

• time – current time value

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

• z – user defined parameters (optional)

void computeA (double t) void computeB(double t) void computeC(double t) inline void computeADot(double t) inline void computeBDot(double t) inline void computeCDot(double t) ACCEPT_VISITORS()

compute A

Parameters

• t – the time compute B

• t – the time compute C

• t – the time compute ADot

• t – the time compute BDot

• t – the time compute CDot

• t – the time