dart::constraint::PgsBoxedLcpSolver Class Reference

Implementation of projected Gauss-Seidel (PGS) LCP solver. More...

#include <PgsBoxedLcpSolver.hpp>

Inheritance diagram for dart::constraint::PgsBoxedLcpSolver:

Classes
struct	Option

Public Member Functions
const std::string &	getType () const override
	Returns the type. More...
bool	solve (int n, double *A, double *x, double *b, int nub, double *lo, double *hi, int *findex, bool earlyTermination) override
	Solves constriant impulses for a constrained group. More...
bool	canSolve (int n, const double *A) override
void	setOption (const Option &option)
	Sets options. More...
const Option &	getOption () const
	Returns options. More...
template<typename BoxedLcpSolverT >
bool	is () const
	Returns true if this solver and the template parameter (a solver class) are the same type. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns type for this class. More...

Protected Attributes
Option	mOption
std::vector< int >	mCacheOrder
std::vector< double >	mCacheD
Eigen::VectorXd	mCachedNormalizedA
Eigen::MatrixXd	mCachedNormalizedB
Eigen::VectorXd	mCacheZ
Eigen::VectorXd	mCacheOldX

Detailed Description

Implementation of projected Gauss-Seidel (PGS) LCP solver.

Member Function Documentation

canSolve()

bool dart::constraint::PgsBoxedLcpSolver::canSolve ( int  n, const double *  A  )

overridevirtual

Implements dart::constraint::BoxedLcpSolver.

getOption()

const PgsBoxedLcpSolver::Option & dart::constraint::PgsBoxedLcpSolver::getOption

(

)

const

Returns options.

getStaticType()

const std::string & dart::constraint::PgsBoxedLcpSolver::getStaticType ( )

static

Returns type for this class.

getType()

const std::string & dart::constraint::PgsBoxedLcpSolver::getType ( ) const

overridevirtual

Returns the type.

Implements dart::constraint::BoxedLcpSolver.

is()

template<typename BoxedLcpSolverT >

bool dart::constraint::BoxedLcpSolver::is

inherited

Returns true if this solver and the template parameter (a solver class) are the same type.

This function is a syntactic sugar, which is identical to:

getType() == BoxedLcpSolver::getStaticType() 

.

Example code:

auto lcpSolver = constraintSolver->getBoxedLcpSolver();
if (shape->is<DantzigBoxedLcpSolver>())
  std::cout << "The LCP solver type is Dantzig!\n";

See also

getType()

setOption()

void dart::constraint::PgsBoxedLcpSolver::setOption

(

const Option &

option

)

Sets options.

solve()

bool dart::constraint::PgsBoxedLcpSolver::solve ( int  n, double *  A, double *  x, double *  b, int  nub, double *  lo, double *  hi, int *  findex, bool  earlyTermination  )

overridevirtual

Solves constriant impulses for a constrained group.

The LCP formulation setting that this function solve is A*x = b + w where each x[i], w[i] satisfies one of (1) x = lo, w >= 0 (2) x = hi, w <= 0 (3) lo < x < hi, w = 0

Parameters

[in]	n	Dimension of constraints.
[in]	A	A term of the LCP formulation.
[in]	x	x term of the LCP formulation.
[in]	b	b term of the LCP formulation.
[in]	nub	Number of the first unbounded constraints.
[in]	lo	Lower bound of x where it's restricted to be lo <= 0.
[in]	hi	Upper bound of x where it's enforced to be hi >= 0.
[in]	findex	Indices to corresponding normal contact constraint. Set the index to itself (e.g., findex[k] = k) for normal contacts or non-contact constraints. For friction constraint, set the cooresponding normal contact constraint.
[in]	earlyTermination	Set true to return false as soon as the solver find the solution doesn't exist. Otherwise, the solver will continue to push hard to solve the problem using some hacks.

Returns

Success.

Implements dart::constraint::BoxedLcpSolver.

Member Data Documentation

mCacheD

std::vector<double> dart::constraint::PgsBoxedLcpSolver::mCacheD

mutableprotected

mCachedNormalizedA

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCachedNormalizedA

mutableprotected

mCachedNormalizedB

Eigen::MatrixXd dart::constraint::PgsBoxedLcpSolver::mCachedNormalizedB

mutableprotected

mCacheOldX

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCacheOldX

mutableprotected

mCacheOrder

std::vector<int> dart::constraint::PgsBoxedLcpSolver::mCacheOrder

mutableprotected

mCacheZ

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCacheZ

mutableprotected

mOption

Option dart::constraint::PgsBoxedLcpSolver::mOption

protected