mbsim 4.0.0 MBSim Kernel

Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
MBSim::LemkeAlgorithm Class Reference
Inheritance diagram for MBSim::LemkeAlgorithm:
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## Public Member Functions

| LemkeAlgorithm (const fmatvec::SqrMat &M_, const fmatvec::Vec &q_)
| LemkeAlgorithm (const fmatvec::SymMat &M_, const fmatvec::Vec &q_)
int | getInfo ()
| return info of solution process
int | getSteps ()
| get the number of steps until the solution was found
void | setSystem (const fmatvec::SqrMat &M_, const fmatvec::Vec &q_)
| set system with Matrix M and vector q
void | setSystem (const fmatvec::SymMat &M_, const fmatvec::Vec &q_)
| set system with Matrix M and vector q
fmatvec::Vec | solve (unsigned int maxloops=0)
| solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd)

## Protected Member Functions

int | findLexicographicMinimum (const fmatvec::Mat &A, const int &pivotColIndex)
bool | LexicographicPositive (const fmatvec::Vec &v)
void | GaussJordanEliminationStep (fmatvec::Mat &A, int pivotRowIndex, int pivotColumnIndex, const std::vector< size_t > &basis)
bool | greaterZero (const fmatvec::Vec &vector)
bool | validBasis (const std::vector< size_t > &basis)

## Protected Attributes

fmatvec::SqrMat | M
fmatvec::Vec | q
unsigned int | steps {0}
| number of steps until the Lemke algorithm found a solution
int | info {-1}
| did the algorithm find a solution More...

## Member Data Documentation

## ◆ info

int MBSim::LemkeAlgorithm::info {-1}

protected

did the algorithm find a solution

-1 : not successful 0 : successful

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

- /mbsim-env/mbsim/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.h
- /mbsim-env/mbsim/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc