sofa::component::constraint::lagrangian::solver::GenericConstraintProblem Class Reference

#include <GenericConstraintProblem.h>

Inheritance diagram for sofa::component::constraint::lagrangian::solver::GenericConstraintProblem:

Public Attributes
sofa::linearalgebra::FullVector< SReal >	_d
std::vector< core::behavior::ConstraintResolution * >	constraintsResolutions
bool	scaleTolerance
bool	allVerified
SReal	sor
SReal	sceneTime
SReal	currentError
int	currentIterations
linearalgebra::SparseMatrix< SReal >	Wdiag
std::list< unsigned int >	constraints_sequence
bool	change_sequence
std::vector< ConstraintCorrections >	cclist_elems
Public Attributes inherited from sofa::component::constraint::lagrangian::solver::ConstraintProblem
sofa::linearalgebra::LPtrFullMatrix< SReal >	W
sofa::linearalgebra::FullVector< SReal >	dFree
sofa::linearalgebra::FullVector< SReal >	f
SReal	tolerance
int	maxIterations

Protected Attributes
sofa::linearalgebra::FullVector< SReal >	m_lam
sofa::linearalgebra::FullVector< SReal >	m_deltaF
sofa::linearalgebra::FullVector< SReal >	m_deltaF_new
sofa::linearalgebra::FullVector< SReal >	m_p
Protected Attributes inherited from sofa::component::constraint::lagrangian::solver::ConstraintProblem
int	dimension
unsigned int	problemId

Public Member Functions
	GenericConstraintProblem ()
	~GenericConstraintProblem () override
void	clear (int nbConstraints) override
void	freeConstraintResolutions ()
void	solveTimed (SReal tol, int maxIt, SReal timeout) override
void	gaussSeidel (SReal timeout=0, GenericConstraintSolver *solver=nullptr)
	Projective Gauss Seidel method building the compliance matrix. More...
void	unbuiltGaussSeidel (SReal timeout=0, GenericConstraintSolver *solver=nullptr)
	Projective Gauss Seidel unbuilt method. More...
void	NNCG (GenericConstraintSolver *solver=nullptr, int iterationNewton=1)
void	gaussSeidel_increment (bool measureError, SReal *dfree, SReal *force, SReal **w, SReal tol, SReal *d, int dim, bool &constraintsAreVerified, SReal &error, sofa::type::vector< SReal > &tabErrors) const
void	result_output (GenericConstraintSolver *solver, SReal *force, SReal error, int iterCount, bool convergence)
int	getNumConstraints ()
int	getNumConstraintGroups ()
Public Member Functions inherited from sofa::component::constraint::lagrangian::solver::ConstraintProblem
	ConstraintProblem ()
virtual	~ConstraintProblem ()
int	getDimension ()
SReal **	getW ()
SReal *	getDfree ()
SReal *	getF ()
unsigned int	getProblemId ()

Attribute details

_d

sofa::linearalgebra::FullVector<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::_d

allVerified

bool sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::allVerified

cclist_elems

std::vector< ConstraintCorrections > sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::cclist_elems

change_sequence

bool sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::change_sequence

constraints_sequence

std::list<unsigned int> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::constraints_sequence

constraintsResolutions

std::vector<core::behavior::ConstraintResolution*> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::constraintsResolutions

currentError

SReal sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::currentError

currentIterations

int sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::currentIterations

m_deltaF

sofa::linearalgebra::FullVector<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::m_deltaF

protected

m_deltaF_new

sofa::linearalgebra::FullVector<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::m_deltaF_new

protected

m_lam

sofa::linearalgebra::FullVector<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::m_lam

protected

m_p

sofa::linearalgebra::FullVector<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::m_p

protected

scaleTolerance

bool sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::scaleTolerance

sceneTime

SReal sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::sceneTime

sor

SReal sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::sor

Wdiag

linearalgebra::SparseMatrix<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::Wdiag

Constructor details

GenericConstraintProblem()

sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::GenericConstraintProblem ( )

inline

~GenericConstraintProblem()

sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::~GenericConstraintProblem ( )

inlineoverride

Function details

clear()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::clear ( int  nbConstraints )

overridevirtual

Reimplemented from sofa::component::constraint::lagrangian::solver::ConstraintProblem.

freeConstraintResolutions()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::freeConstraintResolutions

(

)

gaussSeidel()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::gaussSeidel	(	SReal	timeout = 0,
		GenericConstraintSolver *	solver = nullptr
	)

Projective Gauss Seidel method building the compliance matrix.

gaussSeidel_increment()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::gaussSeidel_increment	(	bool	measureError,
		SReal *	dfree,
		SReal *	force,
		SReal **	w,
		SReal	tol,
		SReal *	d,
		int	dim,
		bool &	constraintsAreVerified,
		SReal &	error,
		sofa::type::vector< SReal > &	tabErrors
	)		const

getNumConstraintGroups()

int sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::getNumConstraintGroups

(

)

getNumConstraints()

int sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::getNumConstraints

(

)

NNCG()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::NNCG	(	GenericConstraintSolver *	solver = nullptr,
		int	iterationNewton = 1
	)

Method from: A nonsmooth nonlinear conjugate gradient method for interactive contact force problems

• 2010, Silcowitz, Morten and Niebe, Sarah and Erleben, Kenny

result_output()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::result_output	(	GenericConstraintSolver *	solver,
		SReal *	force,
		SReal	error,
		int	iterCount,
		bool	convergence
	)

solveTimed()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::solveTimed ( SReal  tol, int  maxIt, SReal  timeout  )

overridevirtual

Implements sofa::component::constraint::lagrangian::solver::ConstraintProblem.

unbuiltGaussSeidel()

void sofa::component::constraint::lagrangian::solver::GenericConstraintProblem::unbuiltGaussSeidel	(	SReal	timeout = 0,
		GenericConstraintSolver *	solver = nullptr
	)

Projective Gauss Seidel unbuilt method.