File mechanics/src/collision/native/bodies/DiskMovingPlanR.hpp

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Defines

COMPUTE(X)

Typedefs

typedef double (*FTime)(double)

disk - moving plan relation - Inherits from LagrangianRheonomousR

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

Public Functions

DiskMovingPlanR(FTime, FTime, FTime, FTime, FTime, FTime, double)

~DiskMovingPlanR() noexcept = default

void init(double)

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)

double distance(double, double, double)

inline void setComputeAFunction(FTime f)

inline void setComputeBFunction(FTime f)

inline void setComputeCFunction(FTime f)

inline void setComputeADotFunction(FTime f)

inline void setComputeBDotFunction(FTime f)

inline void setComputeCDotFunction(FTime f)

bool equal(FTime, FTime, FTime, double) const

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

Private Functions

ACCEPT_SERIALIZATION(DiskMovingPlanR)

inline DiskMovingPlanR()

Private Members

double _time

double _A

double _B

double _C

double _ADot

double _BDot

double _CDot

double _sqrA2pB2

double _r

double _AADot

double _BBDot

double _cubsqrA2pB2

SP::PluggedObject _AFunction = {nullptr}

SP::PluggedObject _BFunction = {nullptr}

SP::PluggedObject _CFunction = {nullptr}

SP::PluggedObject _ADotFunction = {nullptr}

SP::PluggedObject _BDotFunction = {nullptr}

SP::PluggedObject _CDotFunction = {nullptr}