C++ SiconosVector类代码示例

void contactPointProcess(SiconosVector& answer,
                         const Interaction& inter,
                         const T& rel)
{

  answer.resize(14);
  const SiconosVector& posa = *rel.pc1();
  const SiconosVector& posb = *rel.pc2();
  const SiconosVector& nc = *rel.nc();
  const SimpleMatrix& jachqT = *rel.jachqT();
  double id = inter.number();
  double mu = ask<ForMu>(*inter.nslaw());
  SiconosVector cf(jachqT.size(1));
  prod(*inter.lambda(1), jachqT, cf, true);
  answer.setValue(0, mu);

  DEBUG_PRINTF("posa(0)=%g\n", posa(0));
  DEBUG_PRINTF("posa(1)=%g\n", posa(1));
  DEBUG_PRINTF("posa(2)=%g\n", posa(2));


  answer.setValue(1, posa(0));
  answer.setValue(2, posa(1));
  answer.setValue(3, posa(2));
  answer.setValue(4, posb(0));
  answer.setValue(5, posb(1));
  answer.setValue(6, posb(2));
  answer.setValue(7, nc(0));
  answer.setValue(8, nc(1));
  answer.setValue(9, nc(2));
  answer.setValue(10, cf(0));
  answer.setValue(11, cf(1));
  answer.setValue(12, cf(2));
  answer.setValue(13, id);
};

void FirstOrderType1R::computeh(double time, SiconosVector& x, SiconosVector& z, SiconosVector& y)
{
  assert(_pluginh && "FirstOrderType1R::computeOutput() is not linked to a plugin function");

  ((Type1Ptr)(_pluginh->fPtr))(x.size(), &(x)(0), y.size(), &(y)(0), z.size(), &(z)(0));

}

void SphereNEDSSphereNEDSR::computeh(double time, BlockVector& q0, SiconosVector& y)
{


  double q_0 = q0(0);
  double q_1 = q0(1);
  double q_2 = q0(2);
  double q_7 = q0(7);
  double q_8 = q0(8);
  double q_9 = q0(9);

  y.setValue(0, distance(q_0, q_1, q_2, r1, q_7, q_8, q_9, r2));
  //Approximation _Pc1=_Pc2
  _Pc1->setValue(0, (r1 * q_0 + r2 * q_7) / (r1 + r2));
  _Pc1->setValue(1, (r1 * q_1 + r2 * q_8) / (r1 + r2));
  _Pc1->setValue(2, (r1 * q_2 + r2 * q_9) / (r1 + r2));
  _Pc2->setValue(0, (r1 * q_0 + r2 * q_7) / (r1 + r2));
  _Pc2->setValue(1, (r1 * q_1 + r2 * q_8) / (r1 + r2));
  _Pc2->setValue(2, (r1 * q_2 + r2 * q_9) / (r1 + r2));
  _Nc->setValue(0, (q_0 - q_7) / (y.getValue(0) + r1pr2));
  _Nc->setValue(1, (q_1 - q_8) / (y.getValue(0) + r1pr2));
  _Nc->setValue(2, (q_2 - q_9) / (y.getValue(0) + r1pr2));
  //std::cout<<" SphereNEDSSphereNEDSR::computeh dist:"<<y->getValue(0)<<"\n";
  //std::cout<<"_Pc:\n";
  //_Pc->display();
  //std::cout<<"_Nc:\n";
  //_Nc->display();
}

void SimpleMatrix::SolveByLeastSquares(SiconosVector &B)
{
  if (B.isBlock())
    SiconosMatrixException::selfThrow("SimpleMatrix::SolveByLeastSquares(SiconosVector &B) failed. Not yet implemented for V being a BlockVector.");

  DenseMat tmpB(B.size(), 1);
  ublas::column(tmpB, 0) = *(B.dense()); // Conversion of vector to matrix. Temporary solution.
  int info = 0;

#ifdef USE_OPTIMAL_WORKSPACE
  info += lapack::gels(*mat.Dense, tmpB, lapack::optimal_workspace());
#endif
#ifdef USE_MINIMAL_WORKSPACE
  info += lapack::gels(*mat.Dense, tmpB, lapack::minimal_workspace());
#endif
  if (info != 0)
  {
    std::cout << "info = " << info << std::endl;
    SiconosMatrixException::selfThrow("SimpleMatrix::SolveByLeastSquares failed.");
  }
  else
  {
    noalias(*(B.dense())) = ublas::column(tmpB, 0);
  }

}

static
void normalize(SiconosVector& q, unsigned int i)
{
  q.setValue(i, fmod(q.getValue(i), _2PI));

  assert(fabs(q.getValue(i)) - std::numeric_limits<double>::epsilon() >= 0.);
  assert(fabs(q.getValue(i)) < _2PI);
}

void FirstOrderLinearR::computee(double time, SiconosVector& z, SiconosVector& e)
{

  if (_plugine->fPtr)
  {
    ((FOVecPtr) _plugine->fPtr)(time, e.size(), &(e)(0), z.size(), &(z)(0));
  }
}

void LagrangianCompliantR::computeJachlambda(double time, SiconosVector& q0, SiconosVector& lambda, SiconosVector& z)
{

  if (_pluginJachlambda->fPtr)
  {
    // get vector lambda of the current interaction
    ((FPtr2)_pluginJachlambda->fPtr)(q0.size(), &(q0)(0), lambda.size(), &(lambda)(0), &(*_jachlambda)(0, 0), z.size(), &(z)(0));
    // Copy data that might have been changed in the plug-in call.
  }
}

void SimpleMatrix::PLUForwardBackwardInPlace(SiconosVector &B)
{
  if (B.isBlock())
    SiconosMatrixException::selfThrow("SimpleMatrix PLUForwardBackwardInPlace(V) failed. Not yet implemented for V being a BlockVector.");


  DenseMat tmpB(B.size(), 1);
  ublas::column(tmpB, 0) = *(B.dense()); // Conversion of vector to matrix. Temporary solution.
  int info;

  if (_num == 1)
  {
    if (!_isPLUFactorized) // call gesv => LU-factorize+solve
    {
      // solve system:
      if (!_ipiv)
        _ipiv.reset(new VInt(size(0)));
      else
        _ipiv->resize(size(0));

      info = lapack::gesv(*mat.Dense, *_ipiv, tmpB);
      _isPLUFactorized = true;

      /*
        ublas::matrix<double> COPY(*mat.Dense);
        ublas::vector<double> S(std::max(size(0),size(1)));
        ublas::matrix<double, ublas::column_major> U(size(0),size(1));
        ublas::matrix<double, ublas::column_major> VT(size(0),size(1));

        int ierr = lapack::gesdd(COPY, S, U, VT);
        printf("info = %d, ierr = %d, emax = %f, emin = %f , cond = %f\n",info,ierr,S(0),S(2),S(0)/S(2));
      */
      // B now contains solution:
    }
    else // call getrs: only solve using previous lu-factorization
      info = lapack::getrs(*mat.Dense, *_ipiv, tmpB);
  }
  else
  {
    if (!_isPLUFactorized) // call first PLUFactorizationInPlace
    {
      PLUFactorizationInPlace();
    }
    // and then solve
    inplace_solve(*sparse(), tmpB, ublas::lower_tag());
    inplace_solve(ublas::trans(*sparse()), tmpB, ublas::upper_tag());
    info = 0;
  }
  if (info != 0)
    SiconosMatrixException::selfThrow("SimpleMatrix::PLUForwardBackwardInPlace failed.");
  else
  {
    noalias(*(B.dense())) = ublas::column(tmpB, 0);
  }
}

void LagrangianCompliantR::computeh(double time, SiconosVector& q0, SiconosVector& lambda, SiconosVector& z, SiconosVector& y)
{
  if (_pluginh->fPtr)
  {
    // get vector y of the current interaction

    // Warning: temporary method to have contiguous values in memory, copy of block to simple.
    ((FPtr2)(_pluginh->fPtr))(q0.size(), &(q0)(0), y.size(), &(lambda)(0), &(y)(0), z.size(), &(z)(0));

  }
}

void LagrangianCompliantR::computeJachq(double time, SiconosVector& q0, SiconosVector& lambda, SiconosVector& z)
{

  if (_pluginJachq->fPtr)
  {
    // Warning: temporary method to have contiguous values in memory, copy of block to simple.
    // get vector lambda of the current interaction
    ((FPtr2)(_pluginJachq->fPtr))(q0.size(), &(q0)(0), lambda.size(), &(lambda)(0), &(*_jachq)(0, 0), z.size(), &(z)(0));
    // Copy data that might have been changed in the plug-in call.
  }
}

void LagrangianRheonomousR::computeh(double time, SiconosVector& q, SiconosVector& z, SiconosVector& y)
{
  DEBUG_PRINT(" LagrangianRheonomousR::computeh(double time,Interaction& inter, SP::BlockVector q, SP::BlockVector z)");
  if (_pluginh)
  {
    // arg= time. Unused in this function but required for interface.
    if (_pluginh->fPtr)
    {
      ((FPtr4)(_pluginh->fPtr))(q.size(), &(q)(0), time, y.size(),  &(y)(0), z.size(), &(z)(0));

    }
  }
}

void FirstOrderLinearR::computeC(double time, SiconosVector& z, SimpleMatrix& C)
{
  if (_pluginJachx->fPtr)
  {
    ((FOMatPtr1)(_pluginJachx->fPtr))(time, C.size(0), C.size(1), &(C)(0, 0), z.size(), &(z)(0));
  }
}

  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 SiconosVector::setVector(unsigned int , const SiconosVector& newV)
{
  if (newV.size() != size())
    SiconosVectorException::selfThrow("SiconosVector::setVector(num,v), unconsistent sizes.");

  *this = newV ;
}

void ControlLinearAdditionalTermsED::addSmoothTerms(DynamicalSystemsGraph& DSG0, const DynamicalSystemsGraph::VDescriptor& dsgVD, const double t, SiconosVector& xdot)
{
    // check whether we have a system with a control input
    if (DSG0.u.hasKey(dsgVD))
    {
        if (DSG0.B.hasKey(dsgVD))
        {
            prod(DSG0.B.getRef(dsgVD), DSG0.u.getRef(dsgVD), xdot, false); // xdot += B*u
        }
        else if (DSG0.pluginU.hasKey(dsgVD))
        {
            DynamicalSystem& ds = *DSG0.bundle(dsgVD);
            SiconosVector& u = DSG0.u.getRef(dsgVD);
            SiconosVector& tmpXdot = DSG0.tmpXdot.getRef(dsgVD);
            ((AdditionalTermsEDfctU)DSG0.pluginU.getRef(dsgVD).fPtr)(t, xdot.size(), ds.getx().getArray(), u.size(), u.getArray(), tmpXdot.getArray(), ds.getz().size(), ds.getz().getArray());
            xdot += tmpXdot; // xdot += g(x, u)
        }
        else
        {
            RuntimeException::selfThrow("ControlLinearAdditionalTermsED :: input u but no B nor pluginU");
        }
    }
    // check whether the DynamicalSystem is an Observer
    if (DSG0.e.hasKey(dsgVD))
    {
        assert(DSG0.L.hasKey(dsgVD));
        prod(*DSG0.L[dsgVD], *DSG0.e[dsgVD], xdot, false); // xdot += -L*e
    }
}