/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/lmiOptimizer.cpp File Reference

#include "lmiOptimizer.h"
#include <stdio.h>
#include "grasp.h"
#include "matvec3D.h"
#include "robot.h"
#include "contact.h"
#include "lapack_wrappers.h"
#include "maxdet.h"

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Defines
#define	errMsg(S_)
Functions
double *	block_Identity (int numBlocks, int *blockSizes, int pkSize)
double *	combineLMIs (int numVariables, double *lmi1, int lmi1RowSz, double *lmi2, int lmi2RowSz)
void	FatalErrMsg (char *s)
double *	lmiContactLimits (int numForces, int nullDim, double *nullSpace, double *minNormSln, double *lowerBounds, double *upperBounds)
double *	maxdet_wrap (int m, int L, double *F, int *F_blkszs, int K, double *G, int *G_blkszs, double *c, double *z0, double *Z, double *W, double gamma, double abstol, double reltol, int *pNTiters, int negativeFlag, FILE *pRstFile)
Variables
bool	errorOccurred = false

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Define Documentation

#define errMsg

(

S_

)

Value:

{                                  \
  fprintf(stderr,"error: %s\n",S_);\
  errorOccurred = true;            \
  return;                          \
}

Definition at line 52 of file lmiOptimizer.cpp.

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Function Documentation

double* block_Identity	(	int	numBlocks,
		int *	blockSizes,
		int	pkSize
	)

Create a diagonal-block identity matrix

Definition at line 62 of file lmiOptimizer.cpp.

double* combineLMIs	(	int	numVariables,
		double *	lmi1,
		int	lmi1RowSz,
		double *	lmi2,
		int	lmi2RowSz
	)

Combines LMIs lmi1 >0 and lmi2 >0 into the LMI
[lmi1 0]
[0 lmi2] > 0

Definition at line 669 of file lmiOptimizer.cpp.

void FatalErrMsg

(

char *

s

)

Definition at line 46 of file lmiOptimizer.cpp.

double* lmiContactLimits	(	int	numForces,
		int	nullDim,
		double *	nullSpace,
		double *	minNormSln,
		double *	lowerBounds,
		double *	upperBounds
	)

This sets up the contact limits lmi. It requires the Grasp map null space, the minimum norm solution and the lower and upper bounds of each null space dimension.

Adapted from Li Han's Code.

Definition at line 377 of file lmiOptimizer.cpp.

double* maxdet_wrap	(	int	m,
		int	L,
		double *	F,
		int *	F_blkszs,
		int	K,
		double *	G,
		int *	G_blkszs,
		double *	c,
		double *	z0,
		double *	Z,
		double *	W,
		double	gamma,
		double	abstol,
		double	reltol,
		int *	pNTiters,
		int	negativeFlag,
		FILE *	pRstFile
	)

Prepare the parameters used by maxdet package and use it to solve the maxdet optimization problem.

Definition at line 690 of file lmiOptimizer.cpp.

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Variable Documentation

bool errorOccurred = false

Definition at line 41 of file lmiOptimizer.cpp.