/*g=g(lambda)*/
void NonlinearRelationWithSignInversed::computeg(double t, SiconosVector& lambda, SiconosVector& r)
{
#ifdef SICONOS_DEBUG
std::cout << "*** NonlinearRelationWithSignInversed::computeg computeg at: " << t << std::endl;
#endif
r.setValue(0, 10.0 * (1 + lambda(2)) * (1 - lambda(1)));
r.setValue(1, 10.0 * (1 - lambda(0)) * (1 + lambda(3)));
#ifdef SICONOS_DEBUG
std::cout << "NonlinearRelationWithSignInversed::computeg with lambda=" << std::endl;
lambda.display();
std::cout << std::endl;
std::cout << "NonlinearRelationWithSignInversed::computeg modif g_alpha : \n";
r.display();
std::cout << std::endl;
#endif
}
/*y = h(X)*/
void NonlinearRelationWithSignInversed::computeh(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& y)
{
#ifdef SICONOS_DEBUG
std::cout << "******** NonlinearRelationWithSignInversed::computeh computeh at " << t << std::endl;
#endif
y.setValue(0, x(0) - 4);
y.setValue(1, x(1) - 4);
y.setValue(2, x(0) - 8);
y.setValue(3, x(1) - 8);
#ifdef SICONOS_DEBUG
std::cout << "modif heval : \n";
y.display();
#endif
}
/*y = h(X)*/
void NonlinearRelationWithSign::computeh(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& y)
{
//SiconosVector& lambda = *inter.lambda(0);
#ifdef SICONOS_DEBUG
std::cout << "******** NonlinearRelationWithSign::computeh computeh at " << t << std::endl;
#endif
y.setValue(0, 4.0 - x(0));
y.setValue(1, 4.0 - x(1));
y.setValue(2, 8.0 - x(0));
y.setValue(3, 8.0 - x(1));
#ifdef SICONOS_DEBUG
std::cout << "modif heval : \n";
y.display();
#endif
}
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");
}
/*y = h(X,lambda)*/
void adjointInput::computeh(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& z, SiconosVector& y)
{
#ifdef SICONOS_DEBUG
std::cout << "******** computeH at " << t << std::endl;
#endif
SP::SiconosVector betatmp(new SiconosVector(2));
beta(t, x, betatmp);
double betap = 2.0 * ((betatmp->getValue(0)) * x(2) + (betatmp->getValue(1)) * x(3));
y(0) = lambda(1) + betap;
y(1) = 2.0 - lambda(0);
#ifdef SICONOS_DEBUG
std::cout << "modif heval : \n";
y.display();
#endif
}