Class SphereLDSPlanR

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

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

Public Functions

SphereLDSPlanR(double r, double A, double B, double C, double D)

Constructor.

Parameters:

• r – disk radius

• A –

• B –

• C –

• D –

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)