Class SphereLDSSphereLDSR

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

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

Public Functions

SphereLDSSphereLDSR(double r1, double r2)

Constructor.

Parameters:

• r1 – disk1 radius

• r2 – disk2 radius

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)