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 FirstOrderType1R::computeJachx(double time, SiconosVector& x, SiconosVector& z, SimpleMatrix& C)
{
//
assert(_pluginJachx && "FirstOrderType1R::computeJacobianH() failed; not linked to a plug-in function.");
((Type1Ptr)(_pluginJachx->fPtr))(x.size(), &(x)(0), C.size(0), C.getArray(), z.size(), &(z)(0));
}
void FirstOrderType1R::computeJacglambda(double time, SiconosVector& lambda, SiconosVector& z, SimpleMatrix& B)
{
assert(_pluginJacglambda && "FirstOrderType1R::computeJacobiang() failed; not linked to a plug-in function.");
((Type1Ptr)(_pluginJacglambda->fPtr))(lambda.size(), &(lambda)(0), B.size(0), B.getArray(), z.size(), &(z)(0));
}
void FirstOrderType1R::computeJachz(double time, SiconosVector& x, SiconosVector& z, SimpleMatrix& F)
{
if (_pluginJachz && _pluginJachz->fPtr)
((Type1Ptr)(_pluginJachz->fPtr))(x.size(), &(x)(0), F.size(0), F.getArray(), z.size(), &(z)(0));
}
