[kernel] Change the interafce of computeJachqT from

	 virtual void computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2);

	 to

	 virtual void computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink );

	 The interface is now coherent with
	 virtual void computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink );
	 and allows a single call to
	 virtual void computeJach(double time, Interaction& inter, InteractionProperties& interProp);
	 throughout the code. The other calls with test on the type of relation are removed

	 This change asks for the deeper question of the evaluation of of the relation. This is done
	 mainly through computeOutput and computeInput. The new interface ensures that the value of q
	 is the same for all the invocation in the computation of computeJacqT. For a given q, we compute

	 JachqT(q) = Jach(q)T(q)
	 Before we had something as

	 JachqT(q) = Jach(d->q()) d->T()
	 end the values of  Jach(d->q()) d->T() was not coherent.

	 Now it is coherent but it might raise the convergence problem in the Newton loop since the gradient of T
	 are not computed. We need to think  in a more "functional" way all these calls

kernel/src/modelingTools/NewtonEulerFrom1DLocalFrameR.cpp

@@ -169,6 +169,10 @@ void NewtonEulerFrom1DLocalFrameR::initComponents(Interaction& inter, VectorOfBl
   //proj_with_q  _jachqProj.reset(new SimpleMatrix(_jachq->size(0),_jachq->size(1)));
   unsigned int qSize = 7 * (inter.getSizeOfDS() / 6);
   _jachq.reset(new SimpleMatrix(1, qSize));
+
+
+
+  /* VA 12/04/2016 All of what follows should be put in WorkM*/
   _Mabs_C.reset(new SimpleMatrix(1, 3));
   _MObjToAbs.reset(new SimpleMatrix(3, 3));
   _AUX1.reset(new SimpleMatrix(3, 3));
@@ -255,19 +259,7 @@ void NewtonEulerFrom1DLocalFrameR::computeJachq(double time, Interaction& inter,
   DEBUG_END("NewtonEulerFrom1DLocalFrameR::computeJachq(double time, Interaction& inter, ...) \n");
 
 }
-void NewtonEulerFrom1DLocalFrameR::computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2)
-{
-  SP::NewtonEulerDS d1 =  std11::static_pointer_cast<NewtonEulerDS> (ds1);
-  SP::NewtonEulerDS d2 =  std11::static_pointer_cast<NewtonEulerDS> (ds2);
-  if(d1 != d2)
-  {
-    NIcomputeJachqTFromContacts(d1->q(), d2->q());
-  }
-  else
-  {
-    NIcomputeJachqTFromContacts(d1->q());
-  }
-}
+
 
 void NewtonEulerFrom1DLocalFrameR::computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink)
 {

kernel/src/modelingTools/NewtonEulerFrom1DLocalFrameR.hpp

@@ -63,7 +63,7 @@ class NewtonEulerFrom1DLocalFrameR : public NewtonEulerR
 
   /*Matrix converting  the absolute coordinate to the contact coordinate.*/
   SP::SimpleMatrix _Mabs_C;
-  /*Matrix converting .*/
+  /* Matrix converting */
   SP::SimpleMatrix _MObjToAbs;
   /*cross product matrices*/
   SP::SimpleMatrix _NPG1;
@@ -96,9 +96,15 @@ class NewtonEulerFrom1DLocalFrameR : public NewtonEulerR
   virtual ~NewtonEulerFrom1DLocalFrameR() {};
 
   virtual void computeJachq(double time, Interaction& inter, VectorOfBlockVectors& DSlink);
-  virtual void computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2);
+
+  /* Default implementation consists in multiplying jachq and T (see NewtonEulerR::computeJachqT)
+   * but here we compute the operator from the the contact point locations
+   * and the local frame at contact
+   *  \param inter interaction that owns the relation
+   *  \param DSlink the container of the link to DynamicalSystem attributes
+   */
   virtual void computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink );
-  
+
   inline SP::SiconosVector pc1() const
   {
     return _Pc1;

kernel/src/modelingTools/NewtonEulerFrom3DLocalFrameR.cpp

@@ -41,9 +41,7 @@ void NewtonEulerFrom3DLocalFrameR::initComponents(Interaction& inter, VectorOfBl
   _jachq.reset(new SimpleMatrix(3, qSize));
 
 
-  /* VA 12/04/2016 All of what follows shoudl be put in WorkM*/
-  _Mabs_C.reset(new SimpleMatrix(3, 3));
-  _MObjToAbs.reset(new SimpleMatrix(3, 3));
+
   _AUX2.reset(new SimpleMatrix(3, 3));
   //  _isContact=1;
 }
@@ -264,26 +262,6 @@ void NewtonEulerFrom3DLocalFrameR::FC3DcomputeJachqTFromContacts(SP::SiconosVect
 
 }
 
-void NewtonEulerFrom3DLocalFrameR::computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2)
-{
-
-  DEBUG_BEGIN("NewtonEulerFrom3DLocalFrameR::computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2)\n");
-  SP::NewtonEulerDS d1 =  std11::static_pointer_cast<NewtonEulerDS> (ds1);
-  SP::NewtonEulerDS d2 =  std11::static_pointer_cast<NewtonEulerDS> (ds2);
-
-
-  if(d1 != d2)
-    FC3DcomputeJachqTFromContacts(d1->q(), d2->q());
-
-  else
-  {
-    FC3DcomputeJachqTFromContacts(d1->q());
-  }
-  DEBUG_END("NewtonEulerFrom3DLocalFrameR::computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2)\n");
-
-}
-
-
 void NewtonEulerFrom3DLocalFrameR::computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink)
 {
   DEBUG_BEGIN("NewtonEulerFrom3DLocalFrameR::computeJachqT(Interaction& inter, VectorOfBlockVectors& DSlink) \n")

kernel/src/modelingTools/NewtonEulerFrom3DLocalFrameR.hpp

@@ -64,14 +64,16 @@ class NewtonEulerFrom3DLocalFrameR : public NewtonEulerFrom1DLocalFrameR
   /** destructor
   */
   virtual ~NewtonEulerFrom3DLocalFrameR() {};
-  /* Default implementation consists in multiplying jachq and T
-   * \param inter
-   * \param ds1
-   * \param ds2
+
+
+  /* Default implementation consists in multiplying jachq and T (see NewtonEulerR::computeJachqT)
+   * but here we compute the operator from the the contact point locations
+   * and the local frame at contact
+   *  \param inter interaction that owns the relation
+   *  \param DSlink the container of the link to DynamicalSystem attributes
    */
-  virtual void computeJachqT(Interaction& inter, SP::DynamicalSystem ds1, SP::DynamicalSystem ds2);
   virtual void computeJachqT(Interaction& inter,  VectorOfBlockVectors& DSlink);
-  
+
   ACCEPT_STD_VISITORS();
 };
 #endif // NEWTONEULERRELATIONFC3D_H