File numerics/src/NonSmoothDrivers.h

Go to the source code of this file

This file provides all generic functions (drivers), interfaces to the different formulations for Non-Smooth Problems available in Numerics.

Todo:

solve_qp does not exist

Use fc3d tools.

Functions

int linearComplementarity_driver(LinearComplementarityProblem *problem, double *z, double *w, SolverOptions *options)

General interface to solvers for Linear Complementarity Problems.

Parameters:

• problem – [in] the LinearComplementarityProblem structure which handles the problem (M,q)

• z – [inout] a n-vector of doubles which contains the solution of the problem.

• w – [inout] a n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

info termination value

• 0 : successful

• >0 : otherwise see each solver for more information about the log info

int mlcp_driver(MixedLinearComplementarityProblem *problem, double *z, double *w, SolverOptions *options)

General interface to solver for MLCP problems.

• 0 : successful

• >0 : otherwise see each solver for more information about the log info

  Todo:

  Sizing the regularization parameter and apply it only on null diagnal term

Parameters:

• problem – [in] the MixedLinearComplementarityProblem structure which handles the problem (M,q)

• z – [inout] a m+n-vector of doubles which contains the solution of the problem.

• w – [inout] a m+n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

info termination value,

int fc2d_driver(FrictionContactProblem *problem, double *reaction, double *velocity, SolverOptions *options)

General interface to solvers for friction-contact 2D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int fc3d_driver(FrictionContactProblem *problem, double *reaction, double *velocity, SolverOptions *options)

General interface to solvers for friction-contact 3D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int rolling_fc3d_driver(RollingFrictionContactProblem *problem, double *reaction, double *velocity, SolverOptions *options)

General interface to solvers for rolling friction-contact 3D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int rolling_fc2d_driver(RollingFrictionContactProblem *problem, double *reaction, double *velocity, SolverOptions *options)

General interface to solvers for rolling friction-contact 2D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int gfc2d_driver(GlobalFrictionContactProblem *problem, double *reaction, double *velocity, double *globalVelocity, SolverOptions *options)

General interface to solvers for global friction-contact 2D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• globalVelocity – [inout] global vector

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int gfc3d_driver(GlobalFrictionContactProblem *problem, double *reaction, double *velocity, double *globalVelocity, SolverOptions *options)

General interface to solvers for global friction-contact 3D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• globalVelocity – [inout] global vector

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int g_rolling_fc3d_driver(GlobalRollingFrictionContactProblem *problem, double *reaction, double *velocity, double *globalVelocity, SolverOptions *options)

General interface to solvers for global rolling friction-contact 3D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• reaction – [inout] global vector (n)

• velocity – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int variationalInequality_driver(VariationalInequality *problem, double *x, double *w, SolverOptions *options)

General interface to solvers for friction-contact 3D problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• x – [inout] global vector (n)

• w – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int avi_driver(AffineVariationalInequalities *problem, double *z, double *w, SolverOptions *options)

General interface to solvers for Affine Variational Inequalities (AVI)

Parameters:

• problem – [in] the AffineVariationalInequalities structure which handles the problem (M,q)

• z – [inout] a n-vector of doubles which contains the solution of the problem.

• w – [inout] a n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

info termination value

• 0 : successful

• >0 : otherwise see each solver for more information about the log info

int mcp_old_driver(MixedComplementarityProblem_old *problem, double *z, double *w, SolverOptions *options)

General interface to solver for MCP problems.

Parameters:

• problem – [in] the MixedComplementarityProblem_old structure which handles the problem

• z – [inout] a m+n-vector of doubles which contains the solution of the problem.

• w – [inout] a m+n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and its(their) parameters

Returns:

info termination value 0 : successful, else error.

int mcp_driver(MixedComplementarityProblem *problem, double *z, double *w, SolverOptions *options)

General interface to solver for MCP problems — new version.

Parameters:

• problem – [in] the MixedComplementarityProblem structure which handles the problem

• z – [inout] a m+n-vector of doubles which contains the solution of the problem.

• w – [inout] a m+n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and its(their) parameters

Returns:

info termination value 0 : successful, else error.

int ncp_driver(NonlinearComplementarityProblem *problem, double *z, double *F, SolverOptions *options)

General interface to solver for NCP problems.

Parameters:

• problem – [in] the NonlinearComplementarityProblem structure which handles the problem

• z – [inout] a n-vector of doubles which contains the solution of the problem.

• F – [inout] a n-vector of doubles which contains value of the function evaluated at the solution of the problem.

• options – [inout] structure used to define the solver(s) and its(their) parameters

Returns:

info termination value 0 : successful, else error

int soclcp_driver(SecondOrderConeLinearComplementarityProblem *problem, double *r, double *v, SolverOptions *options)

General interface to solvers for SOCLCP problem.

Parameters:

• problem – [in] the structure which handles the Friction-Contact problem

• r – [inout] global vector (n)

• v – [inout] global vector (n)

• options – [inout] structure used to define the solver(s) and their parameters

Returns:

result (0 if successful otherwise 1).

int fc3d_LmgcDriver(double *reaction, double *velocity, double *q, double *mu, double *W, unsigned int *row, unsigned int *column, unsigned int nc, unsigned int nb, int solver_id, double tolerance, int itermax, int verbose, int outputFile, int freq_output, int ndof)

LMGC interface to solvers for friction-contact 3D problem.

Parameters:

• reaction – [inout] global vector (nc*3)

• velocity – [inout] global vector (nc*3)

• q – [in] global vector (nc*3)

• mu – [in] global vector (nc)

• W – [in] the block matrix in coordinate format

• row – [in] block row indices

• column – [in] block column indices

• nc – [in] number of contacts

• nb – [in] number of blocks

• solver_id – [in] id an int to be mapped to actual solver in Numerics

• tolerance – [in] threshold used to validate the solution: if the error is less than this value, the solution is accepted

• itermax – [in] the maximum number of iteration

• verbose – [in] level 0 : nothing, 1: mid level 2: high level

• outputFile – [in] outputFile option 0 : nothing 1 : dat file 2: FCLIB HDF5 file if FCLIB is found

• freq_output – [in]

• ndof – [in] the numbe of dof in the dynamical systems involved in contact (for output in file.)

Returns:

result (0 if successful otherwise 1).

int gfc3d_LmgcDriver(double *reaction, double *velocity, double *globalVelocity, double *q, double *b, double *mu, double *Mdata, unsigned int nzM, unsigned int *rowM, unsigned int *colM, double *Hdata, unsigned int nzH, unsigned int *rowH, unsigned int *colH, unsigned int n, unsigned int nc, int solver_id, int isize, int *iparam, int dsize, double *dparam, int verbose, int outputFile, int freq_output)

LMGC interface to solvers for global friction-contact 3D problem.

Parameters:

• reaction – [inout] global vector (nc*3)

• velocity – [inout] global vector (nc*3)

• globalVelocity – [inout] global velocity vector (n)

• q – [in] global vector (n)

• b – [in] global vector (nc*3)

• mu – [in] global vector (nc)

• Mdata – [in] the sparse matrix in coordinate format

• nzM – [in] number of non zeros in Mdata

• rowM – [in] row indices of M

• colM – [in] column indices of M

• Hdata – [in] the sparse matrix in coordinate format

• nzH – [in] number of non zeros in Hdata

• rowH – [in] row indices of H

• colH – [in] column indices of H

• n – [in] size of global velocity

• nc – [in] number of contacts

• solver_id – [in] id an int to be mapped to actual solver in Numerics

• isize – [in] sive of integer parameters array

• iparam – [in] integer parameters array

• dsize – [in] sive of double parameters array

• dparam – [in] double parameters array

• verbose – [in] level 0 : nothing, 1: mid level 2: high level

• outputFile – [in] outputFile option 0 : nothing 1 : C file , 1 : dat file 3: FCLIB HDF5 file if FCLIB is found

• freq_output – [in]

Returns:

result (0 if successful otherwise 1).

int relay_driver(RelayProblem *problem, double *z, double *w, SolverOptions *options)

General interface to solver for relay problems.

• 0 : successful

• >0 : otherwise see each solver for more information about the log info

Parameters:

• problem – [in] the RelayProblem structure which handles the problem (M,q)

• z – [inout] a n-vector of doubles which contains the solution of the problem.

• w – [inout] a n-vector of doubles which contains the solution of the problem.

• options – [inout] structure used to define the solver(s) and its (their) parameters

Returns:

info termination value