Class siconos::collision::native::bodies::SphereLDSSphereLDSR

This object is defined in the file mechanics/src/collision/native/bodies/SphereLDSSphereLDSR.hpp

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class SphereLDSSphereLDSR : public siconos::modeling::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 siconos::algebra::BlockVector &q, Eigen::Ref<siconos::algebra::SiconosVector> y) override

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

Parameters:

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

  • y – the resulting vector

void computeJacobianhOver_q(const siconos::algebra::BlockVector &q) override

Computes \( \nabla^\top_q h(q) \).

Parameters:

q – coordinates of the dynamical systems involved in the relation