File symbolicEquations.h

class symbolicEquations

Public Functions

symbolicEquations()

void generateContactPotentialPiecewiseFunctions()

void generateFrictionJacobianPiecewiseFunctions()

void generateFloorFrictionJacobianFunctions()

Public Members

LLVMDoubleVisitor E_p2p_gradient_func

LLVMDoubleVisitor E_p2p_hessian_func

LLVMDoubleVisitor E_e2p_gradient_func

LLVMDoubleVisitor E_e2p_hessian_func

LLVMDoubleVisitor E_e2e_gradient_func

LLVMDoubleVisitor E_e2e_hessian_func

LLVMDoubleVisitor E_p2p_pen_gradient_func

LLVMDoubleVisitor E_p2p_pen_hessian_func

LLVMDoubleVisitor E_e2p_pen_gradient_func

LLVMDoubleVisitor E_e2p_pen_hessian_func

LLVMDoubleVisitor E_e2e_pen_gradient_func

LLVMDoubleVisitor E_e2e_pen_hessian_func

LLVMDoubleVisitor friction_partials_dfr_dx_sticking_func

LLVMDoubleVisitor friction_partials_dfr_dfc_sticking_func

LLVMDoubleVisitor friction_partials_dfr_dx_sliding_func

LLVMDoubleVisitor friction_partials_dfr_dfc_sliding_func

LLVMDoubleVisitor floor_friction_partials_dfr_dx_func

LLVMDoubleVisitor floor_friction_partials_dfr_dfn_func

LLVMDoubleVisitor floor_friction_partials_gamma1_dfr_dx_func

LLVMDoubleVisitor floor_friction_partials_gamma1_dfr_dfn_func

Private Members

bool symbolic_cse

int opt_level

RCP<const Basic> x1s_x

RCP<const Basic> x1s_y

RCP<const Basic> x1s_z

RCP<const Basic> x1e_x

RCP<const Basic> x1e_y

RCP<const Basic> x1e_z

RCP<const Basic> x2s_x

RCP<const Basic> x2s_y

RCP<const Basic> x2s_z

RCP<const Basic> x2e_x

RCP<const Basic> x2e_y

RCP<const Basic> x2e_z

RCP<const Basic> K1

RCP<const Basic> h2

RCP<const Basic> x1s_x0

RCP<const Basic> x1s_y0

RCP<const Basic> x1s_z0

RCP<const Basic> x1e_x0

RCP<const Basic> x1e_y0

RCP<const Basic> x1e_z0

RCP<const Basic> x2s_x0

RCP<const Basic> x2s_y0

RCP<const Basic> x2s_z0

RCP<const Basic> x2e_x0

RCP<const Basic> x2e_y0

RCP<const Basic> x2e_z0

RCP<const Basic> f1s_x

RCP<const Basic> f1s_y

RCP<const Basic> f1s_z

RCP<const Basic> f1e_x

RCP<const Basic> f1e_y

RCP<const Basic> f1e_z

RCP<const Basic> f2s_x

RCP<const Basic> f2s_y

RCP<const Basic> f2s_z

RCP<const Basic> f2e_x

RCP<const Basic> f2e_y

RCP<const Basic> f2e_z

RCP<const Basic> mu

RCP<const Basic> dt

RCP<const Basic> K2

RCP<const Basic> z

RCP<const Basic> floor_z

Private Static Functions

static void subtract_matrix(const DenseMatrix &A, const DenseMatrix &B, DenseMatrix &C)

static void get_norm(const DenseMatrix &num, RCP<const Basic> &C)

static void convert_to_unit_vector(const DenseMatrix &num, DenseMatrix &C)

namespace SymEngine