File kernel/src/simulationTools/MLCP.hpp

File kernel/src/simulationTools/MLCP.hpp#

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Linear Complementarity Problem formulation and solving.

Defines

MLCP_NB_BLOCKS_MAX#
class MLCP : public LinearOSNS
#include <MLCP.hpp>

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.

ACCEPT_STD_VISITORS()#

Protected Functions

ACCEPT_SERIALIZATION(MLCP)#

Protected Attributes

int _n = 0#

n is the number of equality

int _m = 0#

m is the size of the complementarity conditions

int _curBlock = 0#
SP::MixedLinearComplementarityProblem _numerics_problem#

The MLCP instance.

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