void FirstOrderType1R::computeJacg(double time, Interaction& inter, InteractionProperties& interProp)
{
VectorOfBlockVectors& DSlink = *interProp.DSlink;
VectorOfVectors& workV = *interProp.workVectors;
VectorOfSMatrices& workM = *interProp.workMatrices;
SiconosVector& z = *workV[FirstOrderR::vec_z];
z = *DSlink[FirstOrderR::z];
if (!_B)
{
computeJacglambda(time, *inter.lambda(0), z, *workM[FirstOrderR::mat_B]);
}
*DSlink[FirstOrderR::z] = z;
}
/** compute all the jacobian of g
* \param time current time
* \param inter the interaction using this relation
* \param interProp Interaction properties
*/
virtual void computeJacg(double time, Interaction& inter, InteractionProperties& interProp)
{
computeJacgq(time, inter);
computeJacgqDot(time, inter);
computeJacglambda(time, inter);
}
