Simbody  3.5
PGSImpulseSolver.h
Go to the documentation of this file.
00001 #ifndef SimTK_SIMBODY_PGS_IMPULSE_SOLVER_H_
00002 #define SimTK_SIMBODY_PGS_IMPULSE_SOLVER_H_
00003 
00004 /* -------------------------------------------------------------------------- *
00005  *                               Simbody(tm)                                  *
00006  * -------------------------------------------------------------------------- *
00007  * This is part of the SimTK biosimulation toolkit originating from           *
00008  * Simbios, the NIH National Center for Physics-Based Simulation of           *
00009  * Biological Structures at Stanford, funded under the NIH Roadmap for        *
00010  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
00011  *                                                                            *
00012  * Portions copyright (c) 2014 Stanford University and the Authors.           *
00013  * Authors: Michael Sherman                                                   *
00014  * Contributors:                                                              *
00015  *                                                                            *
00016  * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
00017  * not use this file except in compliance with the License. You may obtain a  *
00018  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
00019  *                                                                            *
00020  * Unless required by applicable law or agreed to in writing, software        *
00021  * distributed under the License is distributed on an "AS IS" BASIS,          *
00022  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
00023  * See the License for the specific language governing permissions and        *
00024  * limitations under the License.                                             *
00025  * -------------------------------------------------------------------------- */
00026 
00027 #include "simbody/internal/ImpulseSolver.h"
00028 
00029 namespace SimTK {
00030 
00055 class SimTK_SIMBODY_EXPORT PGSImpulseSolver : public ImpulseSolver {
00056 public:
00057     explicit PGSImpulseSolver(Real roll2slipTransitionSpeed) 
00058     :   ImpulseSolver(roll2slipTransitionSpeed,
00059                       1e-6, // default PGS convergence tolerance
00060                       100), // default PGS max number iterations
00061         m_SOR(1.2) {}
00062 
00066     bool solve
00067        (int                                 phase,
00068         const Array_<MultiplierIndex>&      participating,
00069         const Matrix&                       A,
00070         const Vector&                       D, 
00071         const Array_<MultiplierIndex>&      expanding, // nx<=m of these 
00072         Vector&                             piExpand,
00073         Vector&                             verrStart, // in/out
00074         Vector&                             verrApplied, // in/out
00075         Vector&                             pi, 
00076         Array_<UncondRT>&                   unconditional,
00077         Array_<UniContactRT>&               uniContact,
00078         Array_<UniSpeedRT>&                 uniSpeed,
00079         Array_<BoundedRT>&                  bounded,
00080         Array_<ConstraintLtdFrictionRT>&    consLtdFriction,
00081         Array_<StateLtdFrictionRT>&         stateLtdFriction
00082         ) const OVERRIDE_11;
00083 
00089     bool solveBilateral
00090        (const Array_<MultiplierIndex>&      participating, // p<=m of these 
00091         const Matrix&                       A,     // m X m, symmetric
00092         const Vector&                       D,     // m, diag>=0 added to A
00093         const Vector&                       rhs,   // m, RHS
00094         Vector&                             pi     // m, unknown result
00095         ) const OVERRIDE_11;
00096 
00097 private:
00098     Real m_SOR; 
00099 };
00100 
00101 } // namespace SimTK
00102 
00103 #endif // SimTK_SIMBODY_PGS_IMPULSE_SOLVER_H_
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines