File numerics/src/QP/ConvexQP_computeError.h

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functions related to error computation for friction-contact

Functions

int convexQP_compute_error(ConvexQP *problem, double *z, double *xi, double *w, double *u, double tolerance, double scaling, SolverOptions *options, double norm, double *error)

Error computation for a ConvexQP problem; this function requires dWork to point to at least 2*n+m double of allocated memory or it mallocs this memory.

Return
0 if ok
Parameters
  • problem: the structure which defines the ConvexQP problem
  • z: vector
  • xi: multiplier vector
  • w: vector (w = s A^T xi)
  • u: (=Az+b) constraints vector
  • tolerance: value for error computation
  • scaling: parameter s applied on the multiplier xi
  • options: solver options
  • norm: coeff to normalize error
  • error: value

int convexQP_compute_error_reduced(ConvexQP *problem, double *z, double *w, double tolerance, SolverOptions *options, double norm, double *error)

Error computation for a reduced ConvexQP problem (A=I, b=0).

This function requires dWork to point to at least 2*n+m double of allocated memory or it mallocs this memory.

Return
0 if ok
Parameters
  • problem: the structure which defines the ConvexQP problem
  • z: vector
  • w: vector
  • tolerance: value for error computation
  • options: solver options
  • norm: coeff to normalize error
  • error: value