LCP Class Reference

#include <lcp.h>

Public Member Functions
double	CheckPivotResult (const fVec &q_new, std::vector< int > &w2a, std::vector< int > &w2g)
	LCP (const fMat &_NN, const fVec &_r)
	Constructor. More...
const fMat &	Mref ()
int	NumErrors ()
int	NumLoops ()
const fVec &	Qref ()
int	Solve (fVec &g, fVec &a)
	Solve using iterative method. More...
int	SolveEx (fVec &g, fVec &a, const fVec &g_init, double _max_error=1e-8, int _max_iteration=100, double _speed=0.5, int *n_iteration=0)
	Solve using iterative method. More...
int	SolvePivot (fVec &g, fVec &a, double _max_error, int _max_iteration, int *n_iteration, std::vector< int > &_g2w)
	Solve using Lemke's method. More...
int	SolvePivot2 (fVec &g, fVec &a, double _max_error, int _max_iteration, int *n_iteration, std::vector< int > &_g2w)
	Solve by pivot using path planning algorithm. More...
	~LCP ()

Static Public Member Functions
static void	Pivot (int idx1, int idx2, const fMat &M, const fVec &q, fMat &M_new, fVec &q_new)
static void	Pivot (std::vector< int > &idx1, std::vector< int > &idx2, const fMat &M, const fVec &q, fMat &M_new, fVec &q_new)
static void	Pivot (std::vector< int > &w2a, std::vector< int > &w2g, std::vector< int > &z2a, std::vector< int > &z2g, const fMat &M, const fVec &q, fMat &M_new, fVec &q_new)
static void	Pivot (const fMat &M, const fVec &q, std::vector< int > &w2a, std::vector< int > &w2g, std::vector< int > &z2a, std::vector< int > &z2g, int new_jr, fMat &m_jr, fVec &q_new)
static void	Pivot (const fMat &M, const fVec &q, const fMat &oldMinv, std::vector< int > &old_w2a, std::vector< int > &old_w2g, std::vector< int > &old_z2a, std::vector< int > &old_z2g, int ys2a, int ys2g, int yr2a, int yr2g, std::vector< int > &w2a, std::vector< int > &w2g, std::vector< int > &z2a, std::vector< int > &z2g, int jr, fMat &newMinv, fMat &m_jr, fVec &q_new)

Protected Member Functions
int	check_q (const fVec &q, double max_error)

Static Protected Member Functions
static void	pivot_body (const fMat &M12, const fMat &M1, const fMat &M2, const fMat &M12bar, const fVec &q1, const fVec &q1bar, fMat &Md12, fMat &Md1, fMat &Md2, fMat &Md12bar, fVec &qd1, fVec &qd1bar)

Protected Attributes
fMat	M
fMat	N
int	n_vars
fVec	q
fVec	r

Detailed Description

Solves a linear complementarity problem (LCP): find g and a that satisfy N*g + r = a, a>=0, g>=0, a^T*g = 0.

Definition at line 32 of file lcp.h.

Constructor & Destructor Documentation

LCP()

LCP::LCP ( const fMat &  _NN, const fVec &  _r  )

inline

Constructor.

Constructor.

Parameters

[in]	_NN	N matrix
[in]	_r	r vector

Definition at line 41 of file lcp.h.

~LCP()

LCP::~LCP ( )

inline

Definition at line 46 of file lcp.h.

Member Function Documentation

check_q()

int LCP::check_q ( const fVec &  q, double  max_error  )

inlineprotected

Definition at line 134 of file lcp.h.

CheckPivotResult()

double LCP::CheckPivotResult	(	const fVec &	q_new,
		std::vector< int > &	w2a,
		std::vector< int > &	w2g
	)

Definition at line 2009 of file lcp_pivot.cpp.

Mref()

const fMat& LCP::Mref ( )

inline

Definition at line 121 of file lcp.h.

NumErrors()

int LCP::NumErrors

(

)

Definition at line 558 of file lcp_pivot.cpp.

NumLoops()

int LCP::NumLoops

(

)

Definition at line 555 of file lcp_pivot.cpp.

Pivot() [1/5]

void LCP::Pivot ( int  idx1, int  idx2, const fMat &  M, const fVec &  q, fMat &  M_new, fVec &  q_new  )

static

Definition at line 1321 of file lcp_pivot.cpp.

Pivot() [2/5]

void LCP::Pivot ( std::vector< int > &  idx1, std::vector< int > &  idx2, const fMat &  M, const fVec &  q, fMat &  M_new, fVec &  q_new  )

static

Definition at line 1196 of file lcp_pivot.cpp.

Pivot() [3/5]

void LCP::Pivot ( std::vector< int > &  w2a, std::vector< int > &  w2g, std::vector< int > &  z2a, std::vector< int > &  z2g, const fMat &  M, const fVec &  q, fMat &  M_new, fVec &  q_new  )

static

Definition at line 1063 of file lcp_pivot.cpp.

Pivot() [4/5]

void LCP::Pivot ( const fMat &  M, const fVec &  q, std::vector< int > &  w2a, std::vector< int > &  w2g, std::vector< int > &  z2a, std::vector< int > &  z2g, int  new_jr, fMat &  m_jr, fVec &  q_new  )

static

Definition at line 1866 of file lcp_pivot.cpp.

Pivot() [5/5]

void LCP::Pivot ( const fMat &  M, const fVec &  q, const fMat &  oldMinv, std::vector< int > &  old_w2a, std::vector< int > &  old_w2g, std::vector< int > &  old_z2a, std::vector< int > &  old_z2g, int  ys2a, int  ys2g, int  yr2a, int  yr2g, std::vector< int > &  w2a, std::vector< int > &  w2g, std::vector< int > &  z2a, std::vector< int > &  z2g, int  jr, fMat &  newMinv, fMat &  m_jr, fVec &  q_new  )

static

Definition at line 1481 of file lcp_pivot.cpp.

pivot_body()

void LCP::pivot_body ( const fMat &  M12, const fMat &  M1, const fMat &  M2, const fMat &  M12bar, const fVec &  q1, const fVec &  q1bar, fMat &  Md12, fMat &  Md1, fMat &  Md2, fMat &  Md12bar, fVec &  qd1, fVec &  qd1bar  )

staticprotected

Definition at line 1433 of file lcp_pivot.cpp.

Qref()

const fVec& LCP::Qref ( )

inline

Definition at line 124 of file lcp.h.

Solve()

int LCP::Solve	(	fVec &	g,
		fVec &	a
	)

Solve using iterative method.

Solve using iterative method.

Parameters

[out]	g	the solution (non-basic variables)
[out]	a	the solution (basic variables)

Definition at line 20 of file lcp.cpp.

SolveEx()

int LCP::SolveEx	(	fVec &	g,
		fVec &	a,
		const fVec &	g_init,
		double	_max_error = 1e-8,
		int	_max_iteration = 100,
		double	_speed = 0.5,
		int *	n_iteration = 0
	)

Solve using iterative method.

Solve using iterative method.

Parameters

[out]	g	the solution (non-basic variables)
[out]	a	the solution (basic variables)
[in]	g_init	the initial value for g
[in]	_max_error	maximum permissible error
[in]	_max_iteration	maximum number of iterations
[in]	_speed	convergence speed
[out]	n_iteration	actual number of iterations

Definition at line 27 of file lcp.cpp.

SolvePivot()

int LCP::SolvePivot	(	fVec &	g,
		fVec &	a,
		double	_max_error,
		int	_max_iteration,
		int *	n_iteration,
		std::vector< int > &	_g2w
	)

Solve using Lemke's method.

Solve using Lemke's method.

Parameters

[out]	g	the solution (non-basic variables)
[out]	a	the solution (basic variables)
[in]	_max_error	maximum permissible error
[in]	_max_iteration	maximum number of iteration
[out]	n_iteration	actual number of iterations
[out]	_g2w	resulting pivot

Definition at line 698 of file lcp_pivot.cpp.

SolvePivot2()

int LCP::SolvePivot2	(	fVec &	g,
		fVec &	a,
		double	_max_error,
		int	_max_iteration,
		int *	n_iteration,
		std::vector< int > &	_g2w
	)

Solve by pivot using path planning algorithm.

Solve by pivot using path planning algorithm.

Parameters

[out]	g	the solution (non-basic variables)
[out]	a	the solution (basic variables)
[in]	_max_error	maximum permissible error
[in]	_max_iteration	maximum number of iteration
[out]	n_iteration	actual number of iterations
[out]	_g2w	resulting pivot

Definition at line 562 of file lcp_pivot.cpp.

Member Data Documentation

M

fMat LCP::M

protected

Definition at line 149 of file lcp.h.

N

fMat LCP::N

protected

Definition at line 145 of file lcp.h.

n_vars

int LCP::n_vars

protected

Definition at line 147 of file lcp.h.

q

fVec LCP::q

protected

Definition at line 150 of file lcp.h.

r

fVec LCP::r

protected

Definition at line 146 of file lcp.h.

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The documentation for this class was generated from the following files:

• lcp.h
• lcp.cpp
• lcp_pivot.cpp