void computeh(double time, BlockVector& q0, SiconosVector& y)
{
double height = fabs(q0.getValue(0)) - _sBallRadius;
// std::cout <<"my_NewtonEulerR:: computeh _jachq" << std:: endl;
// _jachq->display();
y.setValue(0, height);
_Nc->setValue(0, 1);
_Nc->setValue(1, 0);
_Nc->setValue(2, 0);
_Pc1->setValue(0, height);
_Pc1->setValue(1, q0.getValue(1));
_Pc1->setValue(2, q0.getValue(2));
//_Pc2->setValue(0,hpc);
//_Pc2->setValue(1,data[q0]->getValue(1));
//_Pc2->setValue(2,data[q0]->getValue(2));
//printf("my_NewtonEulerR N, Pc\n");
//_Nc->display();
//_Pc1->display();
}
void computeh(double time, BlockVector& q0, SiconosVector& y)
{
std::cout <<"my_NewtonEulerR:: computeh" << std:: endl;
std::cout <<"q0.size() = " << q0.size() << std:: endl;
double height = q0.getValue(0) - _sBallRadius - q0.getValue(7);
// std::cout <<"my_NewtonEulerR:: computeh _jachq" << std:: endl;
// _jachq->display();
y.setValue(0, height);
_Nc->setValue(0, 1);
_Nc->setValue(1, 0);
_Nc->setValue(2, 0);
_Pc1->setValue(0, q0.getValue(0) - _sBallRadius);
_Pc1->setValue(1, q0.getValue(1));
_Pc1->setValue(2, q0.getValue(2));
_Pc2->setValue(0,q0.getValue(7));
_Pc2->setValue(1,q0.getValue(8));
_Pc2->setValue(2,q0.getValue(9));
//printf("my_NewtonEulerR N, Pc\n");
_Nc->display();
_Pc1->display();
_Pc2->display();
std::cout <<"my_NewtonEulerR:: computeh ends" << std:: endl;
}
void KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
DEBUG_BEGIN("KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)\n");
DEBUG_EXPR(q0.display());
double X1 = q0.getValue(0);
double Y1 = q0.getValue(1);
double Z1 = q0.getValue(2);
double q10 = q0.getValue(3);
double q11 = q0.getValue(4);
double q12 = q0.getValue(5);
double q13 = q0.getValue(6);
DEBUG_PRINTF("X1 = %12.8e,\t Y1 = %12.8e,\t Z1 = %12.8e,\n",X1,Y1,Z1);
DEBUG_PRINTF("q10 = %12.8e,\t q11 = %12.8e,\t q12 = %12.8e,\t q13 = %12.8e,\n",q10,q11,q12,q13);
double X2 = 0;
double Y2 = 0;
double Z2 = 0;
double q20 = 1;
double q21 = 0;
double q22 = 0;
double q23 = 0;
if(q0.getNumberOfBlocks()>1)
{
// SP::SiconosVector x2 = _d2->q();
// DEBUG_EXPR( _d2->q()->display(););
X2 = q0.getValue(7);
Y2 = q0.getValue(8);
Z2 = q0.getValue(9);
q20 = q0.getValue(10);
q21 = q0.getValue(11);
q22 = q0.getValue(12);
q23 = q0.getValue(13);
}
y.setValue(0, Hx(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
y.setValue(1, Hy(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
y.setValue(2, Hz(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
DEBUG_EXPR(y.display());
DEBUG_END("KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)\n");
}