1 /* Siconos is a program dedicated to modeling, simulation and control
2 * of non smooth dynamical systems.
3 *
4 * Copyright 2021 INRIA.
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
17 */
18
19 #include <cmath>
20 #include "SphereNEDS.hpp"
21
SphereNEDS(double r,double m,SP::SiconosMatrix I,SP::SiconosVector qinit,SP::SiconosVector vinit)22 SphereNEDS::SphereNEDS(double r, double m, SP::SiconosMatrix I,
23 SP::SiconosVector qinit,
24 SP::SiconosVector vinit)
25 : NewtonEulerDS(qinit, vinit, m, I), radius(r)
26 {
27
28 // note : _ndof = 3 in NewtonEuleurDS ? (=> _ndof = 6 ?)
29
30 assert(qinit->size() == _qDim);
31 assert(vinit->size() == 6); // == _ndof
32
33 }
34
~SphereNEDS()35 SphereNEDS::~SphereNEDS()
36 {}
37