Inheritance diagram for MBSim::LemkeAlgorithm:

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