MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChLcpIterativeSymmSOR Class Reference

#include <CHlcpIterativeSymmSOR.h>

Inheritance diagram for chrono::ChLcpIterativeSymmSOR:

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Collaboration diagram for chrono::ChLcpIterativeSymmSOR:

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List of all members.

Public Member Functions
	ChLcpIterativeSymmSOR (int mmax_iters=50, bool mwarm_start=false, double mtolerance=0.0, double momega=1.0)
virtual double	Solve (ChLcpSystemDescriptor &sysd, bool add_Mq_to_f=false)

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Detailed Description

An iterative LCP solver based on symmetric projective fixed point method, with overrelaxation and immediate variable update as in SSOR methods. This solver must be used for mixed-linear complementarity problems (MLCP) in this form:

| M -Cq'|*|q|- | f|= |0| , c>=0, l>=0, l*c=0; | Cq 0 | |l| |-b| |c|

as arising in the solution of QP with inequalities or in multibody problems. Note that this solver supports also the case of boxed constraints on 'l', such as lmin<l<lmax

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Constructor & Destructor Documentation

chrono::ChLcpIterativeSymmSOR::ChLcpIterativeSymmSOR	(	int	mmax_iters = 50,
		bool	mwarm_start = false,
		double	mtolerance = 0.0,
		double	momega = 1.0
	)

Parameters:

mmax_iters	max.number of iterations
mwarm_start	uses warm start?
mtolerance	tolerance for termination criterion
momega	overrelaxation criterion

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Member Function Documentation

double chrono::ChLcpIterativeSymmSOR::Solve	(	ChLcpSystemDescriptor &	sysd,
		bool	add_Mq_to_f = false
	)			[virtual]

Performs the solution of the LCP.

Returns:

the maximum constraint violation after termination.

Parameters:

sysd	system description with constraints and variables
add_Mq_to_f	if true, takes the initial 'q' and adds [M]*q to 'f' vector

Implements chrono::ChLcpSolver.

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen