Description
Base class for solvers aimed at solving complementarity problems arising from QP optimization problems.
The problem is described by a variational inequality VI(Z*x-d,K):
| M -Cq'|*|q|- | f|= |0| | Cq -E | |l| |-b| |c|
with l \(\in\) Y, C \(\in\) Ny, normal cone to Y
Also Z symmetric by flipping sign of l_i:
|M Cq'|*| q|-| f|=|0| |Cq E | |-l| |-b| |c|
- case linear problem: all Y_i = R, Ny=0, ex. all bilaterals
- case LCP: all Y_i = R+: c>=0, l>=0, l*c=0
- case CCP: Y_i are friction cones
For details on the supported types of solvers see ChIterativeSolverVI and the concrete iterative VI solvers.
#include <ChSolverVI.h>
Inheritance diagram for chrono::ChSolverVI:
Collaboration diagram for chrono::ChSolverVI:
Additional Inherited Members | |
 Public Types inherited from chrono::ChSolver | |
| enum | Type { Type::PSOR, Type::PSSOR, Type::PJACOBI, Type::PMINRES, Type::BARZILAIBORWEIN, Type::APGD, Type::ADMM, Type::SPARSE_LU, Type::SPARSE_QR, Type::PARDISO_MKL, Type::MUMPS, Type::GMRES, Type::MINRES, Type::BICGSTAB, CUSTOM } |
| Available types of solvers. More... | |
| Public Member Functions inherited from chrono::ChSolver | |
| virtual Type | GetType () const |
| Return type of the solver. | |
| virtual bool | IsIterative () const =0 |
| Return true if iterative solver. | |
| virtual bool | IsDirect () const =0 |
| Return true if direct solver. | |
| virtual ChIterativeSolver * | AsIterative () |
| Downcast to ChIterativeSolver. | |
| virtual ChDirectSolverLS * | AsDirect () |
| Downcast to ChDirectSolver. | |
| virtual bool | SolveRequiresMatrix () const =0 |
| Indicate whether or not the Solve() phase requires an up-to-date problem matrix. More... | |
| virtual double | Solve (ChSystemDescriptor &sysd)=0 |
| Performs the solution of the problem. More... | |
| virtual bool | Setup (ChSystemDescriptor &sysd) |
| This function does the setup operations for the solver. More... | |
| void | SetVerbose (bool mv) |
| Set verbose output from solver. | |
| void | EnableWrite (bool val, const std::string &frame, const std::string &out_dir=".") |
| Enable/disable debug output of matrix, RHS, and solution vector. | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
| Method to allow de-serialization of transient data from archives. | |
| Static Public Member Functions inherited from chrono::ChSolver | |
| static std::string | GetTypeAsString (Type type) |
| Return the solver type as a string. | |
| Protected Attributes inherited from chrono::ChSolver | |
| bool | verbose |
| bool | write_matrix |
| std::string | output_dir |
| std::string | frame_id |
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/solver/ChSolverVI.h
