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Class MLCP

Class MLCP#

Defined in Program listing for file kernel/src/simulationTools/MLCP.hpp

class MLCP : public LinearOSNS#

Formalization and Resolution of a Mixed Linear Complementarity Problem (MLCP)

This class is devoted to the formalization and the resolution of the Mixed Linear Complementarity Problem (MLCP) defined by :

\[\begin{split} 0 = Au + Cv + a \\ \\ z = Du + Bv + b \\ \\ v \geq 0, z \geq 0, z^{T} v =0 \end{split}\]

where

  • \( u \in R^{n} \) \( v \in R^{m} \) and \( z \in R^{m} \) are the unknowns,

  • \( a \in R^{n} \) and \( b \in R^{m} \)

  • \( A \in R^{n \times n } \)

  • \( B \in R^{m \times m } \)

  • \( C \in R^{n \times m } \)

  • \( D \in R^{m \times n } \)

The MLCP main components are:

  • a problem (variables A,B,C,D,a,b and size of the problem), which directly corresponds to the MixedLinearComplementarityProblem structure of Numerics

  • the unknowns u,v and z

Subclassed by MLCPProjectOnConstraints

Public Functions

MLCP(int numericsSolverId = SICONOS_MLCP_ENUM)#

constructor from data

Parameters:

numericsSolverId – id of Numerics solver (optional, default = SICONOS_MLCP_ENUM the enumerative solver)

MLCP(SP::SolverOptions options)#

constructor from a pre-defined solver options set

Parameters:

options – the options set

inline virtual ~MLCP()#

destructor

virtual void computeOptions(SP::Interaction inter1, SP::Interaction inter2)#

compute equalities/inequalities sizes and set corresponding values in numerics problem

Parameters:

  • inter1 – Interaction used to get a non-smooth law and the constraints sizes.

  • inter2 – another interaction, not used indeed (?)

virtual void updateInteractionBlocks() override#

Update blocks used to compute M matrix.

inline int getn() const#

get the number of equality constraints,

Returns:

int

inline SP::MixedLinearComplementarityProblem getNumericsMLCP()#

get the pointer on the Numerics MLCP,

Returns:

SP::MixedLinearComplementarityProblem

virtual void reset()#

Reninitialize numerics driver.

virtual void computeInteractionBlock(const InteractionsGraph::EDescriptor &ed) override#

compute extra-diagonal interactionBlock-matrix

Parameters:

ed – an edge descriptor

virtual void computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor &vd) override#

compute diagonal Interaction block

Parameters:

vd – a vertex descriptor

virtual int compute(double time) override#

Compute the unknown z and w and update the Interaction (y and lambda )

Parameters:

time – current time

Returns:

int, information about the solver convergence.

int solve()#

Call numerics solver.

Returns:

int information about the solver convergence (output from numerics driver, mixedlinearComplementarity_driver, check numerics doc. for details).

virtual void display() const override#

print the data to the screen

virtual bool checkCompatibleNSLaw(NonSmoothLaw &nslaw) override#

Check the compatibility fol the nslaw with the targeted OSNSP.

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