<?xml version="1.0" encoding="UTF-8"?>
<!-- Siconos is a program dedicated to modeling, simulation and control-->
<!-- of non smooth dynamical systems.-->
<!---->
<!-- Copyright 2021 INRIA.-->
<!---->
<!-- Licensed under the Apache License, Version 2.0 (the "License");-->
<!-- you may not use this file except in compliance with the License.-->
<!-- You may obtain a copy of the License at-->
<!---->
<!-- http://www.apache.org/licenses/LICENSE-2.0-->
<!---->
<!-- Unless required by applicable law or agreed to in writing, software-->
<!-- distributed under the License is distributed on an "AS IS" BASIS,-->
<!-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.-->
<!-- See the License for the specific language governing permissions and-->
<!-- limitations under the License.-->
<!--	-->

<!-- SICONOS Model XML file -->

<SiconosModel>
	<NSDS bvp='false'>
	<!-- DSs defined in the problem -->
		<DS_Definition>		
			<LagrangianDS number='13'>
				<StepsInMemory>2</StepsInMemory>				
				<q0 vectorSize='3'>
					1.0 2.0 3.0
				</q0>
				<Velocity0  vectorSize='3'>
					4.0 5.0 6.0
				</Velocity0>
				<Mass matrixRowSize='3' matrixColSize='3'>	
					<row>1.0 0.0 0.0</row>
					<row>0.0 1.0 0.0</row>
					<row>0.0 0.0 1.0</row>
				</Mass>			
			</LagrangianDS>
			<LagrangianDS number='8'>
				<StepsInMemory>1</StepsInMemory>				
				<q0 vectorSize='3'>
					1 2.0 3.0
				</q0>
				<Velocity0  vectorSize='3'>
					4.0 5.0 6.0
				</Velocity0>
				<FExt vectorPlugin="TestPlugin:computeFExt"/>
				<Mass matrixPlugin="TestPlugin:computeMass"/>
				<FInt vectorPlugin="TestPlugin:computeFInt"/>
				<JacobianQFInt matrixPlugin="TestPlugin:computeJacobianQFInt"/>
				<JacobianVelocityFInt matrixPlugin="TestPlugin:computeJacobianVelocityFInt"/>
				<FGyr vectorPlugin="TestPlugin:computeFGyr"/>
				<JacobianQFGyr matrixPlugin="TestPlugin:computeJacobianQFGyr"/>
				<JacobianVelocityFGyr matrixPlugin="TestPlugin:computeJacobianVelocityFGyr"/>
			</LagrangianDS>
			<LagrangianDS number='4'>
				<StepsInMemory>1</StepsInMemory>				
				<q0 vectorSize='3'>
					1 2.0 3.0
				</q0>
				<Velocity0  vectorSize='3'>
					4.0 5.0 6.0
				</Velocity0>
				<FExt vectorSize='3'>
					2 4 6
				</FExt>
				<Mass matrixPlugin="TestPlugin:computeMass"/>
				<FInt vectorSize='3'>
					3 6 9
				</FInt>
				<JacobianQFInt matrixRowSize='3' matrixColSize='3'>	
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
				</JacobianQFInt>			
				<JacobianVelocityFInt matrixRowSize='3' matrixColSize='3'>	
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
				</JacobianVelocityFInt>			
				<FGyr vectorSize='3'>
					4 8 12
				</FGyr>
				<JacobianQFGyr matrixRowSize='3' matrixColSize='3'>	
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
				</JacobianQFGyr>			
				<JacobianVelocityFGyr matrixRowSize='3' matrixColSize='3'>	
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
					<row>0.0 0.0 0.0</row>
				</JacobianVelocityFGyr>			
			</LagrangianDS>
		</DS_Definition>
	</NSDS>
</SiconosModel>
