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]
