/** default function to compute jacobianH
* \param double : current time
* \param index for jacobian (0: jacobian according to x, 1 according to lambda)
*/
void adjointInput::computeJachx(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& z, SimpleMatrix& C)
{
#ifdef SICONOS_DEBUG
std::cout << "computeJachx " << " at " << " " << t << std::endl;
#endif
SP::SiconosVector betatmp(new SiconosVector(2));
beta(t, x, betatmp);
SP::SiconosMatrix jacbetaXtmp(new SimpleMatrix(2, 2));
JacobianXbeta(t, x, jacbetaXtmp);
C(0, 0) = x(3);
C(0, 1) = -x(2) ;
C(0, 2) = (-x(1) + 1.0) ;
C(0, 3) = x(0);
C(1, 0) = 0.0;
C(1, 1) = 0.0 ;
C(1, 2) = 0.0 ;
C(1, 3) = 0.0;
#ifdef SICONOS_DEBUG
std::cout << "modif Jachx : \n";
C.display();
#endif
}
void adjointInput::computeJacglambda(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& z, SimpleMatrix& B)
{
double *g = B.getArray();
#ifdef SICONOS_DEBUG
std::cout << "computeJacglambda " << " at " << " " << t << std::endl;
#endif
SP::SiconosVector K2P(new SiconosVector(2));
SP::SiconosVector P(new SiconosVector(2));
P->setValue(0, x(2));
P->setValue(1, x(3));
prod(*K2, *P, *K2P, true);
SP::SiconosVector betatmp(new SiconosVector(2));
beta(t, x, betatmp);
g[0] = betatmp->getValue(0) ;
g[4] = 0.0;
g[1] = betatmp->getValue(1) ;
g[5] = 0.0;
g[2] = K2P->getValue(0) ;
g[6] = 0.0;
g[3] = K2P->getValue(1) ;
g[7] = 0.0 ;
#ifdef SICONOS_DEBUG
std::cout << "modif Jacglambda : \n";
B.display();
#endif
}
void adjointInput::computeJachlambda(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& z, SimpleMatrix& D)
{
#ifdef SICONOS_DEBUG
std::cout << "computeJachlambda " << " at " << " " << t << std::endl;
#endif
D(0, 0) = 0.0 ;
D(0, 1) = 1.0 ;
D(1, 0) = -1.0 ;
D(1, 1) = 0.0 ;
#ifdef SICONOS_DEBUG
std::cout << "modif Jachlambda : \n";
D.display();
#endif
}
void NonlinearRelationWithSignInversed::computeJacglambda(double t, SiconosVector& lambda, SimpleMatrix& B)
{
B.setValue(0, 0, 0);
B.setValue(1, 0, -10.0 * (1 + lambda(3)));
B.setValue(0, 1, -10.0 * (1 + lambda(2)));
B.setValue(1, 1, 0);
B.setValue(0, 2, 10.0 * (1 - lambda(1)));
B.setValue(1, 2, 0);
B.setValue(0, 3, 0);
B.setValue(1, 3, 10.0 * (1 - lambda(0)));
#ifdef SICONOS_DEBUG
std::cout << "NonlinearRelationWithSignInversed::computeJacgx " << " at " << " " << t << std::endl;
B.display();
std::cout << std::endl;
#endif
}
void NonlinearRelationWithSignInversed::computeJachx(double t, SiconosVector& x, SiconosVector& lambda, SimpleMatrix& C)
{
C.setValue(0, 0, 1);
C.setValue(0, 1, 0);
C.setValue(1, 0, 0);
C.setValue(1, 1, 1);
C.setValue(2, 0, 1);
C.setValue(2, 1, 0);
C.setValue(3, 0, 0);
C.setValue(3, 1, 1);
#ifdef SICONOS_DEBUG
std::cout << "NonlinearRelationWithSignInversed::computeJachx computeJachx " << " at " << " " << t << ":" << std::endl;
C.display();
std::cout << std::endl;
#endif
}
/** default function to compute jacobianG according to lambda
* \param double : current time
* \param index for jacobian: at the time only one possible jacobian => i = 0 is the default value .
*/
void adjointInput::computeJacgx(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& z, SimpleMatrix& K)
{
#ifdef SICONOS_DEBUG
std::cout << "computeJacgx " << " at " << " " << t << std::endl;
#endif
SP::SiconosMatrix jacbetaXtmp(new SimpleMatrix(2, 2));
JacobianXbeta(t, x, jacbetaXtmp);
K(0, 0) = jacbetaXtmp->getValue(0, 0) * (lambda(0) - 1.0) ;
K(0, 1) = jacbetaXtmp->getValue(0, 1) * (lambda(0) - 1.0) ;
K(0, 2) = 0.0;
K(0, 3) = 0.0;
K(1, 0) = jacbetaXtmp->getValue(1, 0) * (lambda(0) - 1.0) ;
K(1, 1) = jacbetaXtmp->getValue(1, 1) * (lambda(0) - 1.0) ;
K(1, 2) = 0.0 ;
K(1, 3) = 0.0 ;
K(2, 0) = 0.0;
K(2, 1) = 0.0;
K(2, 2) = K2->getValue(0, 0) * (lambda(0) - 1.0);
K(2, 3) = K2->getValue(0, 1) * (lambda(0) - 1.0);
K(3, 0) = 0.0;
K(3, 1) = 0.0;
K(3, 2) = K2->getValue(1, 0) * (lambda(0) - 1.0);
K(3, 3) = K2->getValue(1, 1) * (lambda(0) - 1.0);
#ifdef SICONOS_DEBUG
std::cout << "modif Jacgx : \n";
K.display();
#endif
}