Class DiskPlanR

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

class DiskPlanR : public LagrangianScleronomousR, public std::enable_shared_from_this<DiskPlanR>

disk - plan relation - Inherits from LagrangianScleronomousR

Public Functions

DiskPlanR(double r, double A, double B, double C)

Infinite Plan.

Parameters

  • r – disk radius

  • A – component of line equation Ax + By + C = 0

  • B – component of line equation Ax + By + C = 0

  • C – component of line equation Ax + By + C = 0

DiskPlanR(double disk, double A, double B, double C, double xCenter, double yCenter, double width)

Finite or infinite Plan (segment)

Parameters

  • disk – radius

  • A –

  • B –

  • C –

  • xCenter –

  • yCenter –

  • width –

DiskPlanR(double, double, double, double, double)

Finite Plan.

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

to compute the output y = h(t,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)