filippov.setNonSmoothDynamicalSystemPtr(myNSDS) td = TimeDiscretisation(t0, h) s = TimeStepping(td) myIntegrator = EulerMoreauOSI(process, theta) s.insertIntegrator(myIntegrator) #TODO python <- SICONOS_RELAY_LEMKE # access dparam osnspb = Relay() s.insertNonSmoothProblem(osnspb) s.setComputeResiduY(True) s.setComputeResiduR(True) filippov.initialize(s); # matrix to save data dataPlot = empty((N+1,5)) dataPlot[0, 0] = t0 dataPlot[0, 1:3] = process.x() dataPlot[0, 3] = myProcessInteraction.lambda_(0)[0] dataPlot[0, 4] = myProcessInteraction.lambda_(0)[1] # time loop k = 1 while(s.hasNextEvent()): s.newtonSolve(1e-12, 40) dataPlot[k, 0] = s.nextTime() dataPlot[k, 1] = process.x()[0]