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

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SphereLDS relation with a plan - Inherits from LagrangianScleronomousR.

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 –

~SphereLDSPlanR() noexcept = default

double distance(double, double, double, double)

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)

inline bool equal(double _A, double _B, double _C, double _D, double _r) const

ACCEPT_VISITORS()

Private Functions

ACCEPT_SERIALIZATION(SphereLDSPlanR)

Private Members

double r

double A

double B

double C

double D

double nN

double nU

double u1

double u2

double u3

double v1

double v2

double v3

double n1

double n2

double n3

double ru1

double ru2

double ru3

double rv1

double rv2

double rv3