#include <CHlcpVariables.h>
Public Member Functions | |
| ChLcpVariables (int m_ndof) | |
| ChLcpVariables & | operator= (const ChLcpVariables &other) |
| void | SetDisabled (bool mdis) |
| bool | IsDisabled () |
| bool | IsActive () |
| virtual int | Get_ndof () |
| ChMatrix & | Get_qb () |
| virtual void | Compute_fb () |
| ChMatrix & | Get_fb () |
| virtual void | Compute_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)=0 |
| virtual void | Compute_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)=0 |
| virtual void | Compute_inc_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)=0 |
| virtual void | Compute_inc_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)=0 |
| virtual void | Compute_Mb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)=0 |
| virtual void | Compute_Mb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)=0 |
| virtual void | Build_M (ChSparseMatrix &storage, int insrow, int inscol)=0 |
| void | SetOffset (int moff) |
| int | GetOffset () |
Detailed Description
Base class for representing LCP items which introduce 'variables', that is variables 'v' (and associated masses M) for a sparse linear complemetarity problem in the form:
| M -Cq'|*|v|- | f|= |0| , c>0, l>0, l*c=0; | Cq 0 | |l| |-b| |c|
(where all masses and variables are assembled in huge matrices, but there's no need to really build such matrices, in order to exploit sparsity).
Note: in sake of highest generalization, this base class does NOT include a mass submatrix (a sub part of the M matrix) but just declares the methods Compute_invMb_v() and Compute_Mb_v() (which are used by iterative solvers) and Build_M() (which is used by simplex solver), which MUST be implemented by child classes. This doing, some child classes too may implement all three methods without needing to store entire mass submatrices, if possible, in sake of efficiency.
Member Function Documentation
| virtual void chrono::ChLcpVariables::Build_M | ( | ChSparseMatrix & | storage, |
| int | insrow, | ||
| int | inscol | ||
| ) | [pure virtual] |
Build the mass submatrix (for these variables) storing it in 'storage' sparse matrix, at given column/row offset. This function is used only by the ChLcpSimplex solver (iterative solvers don't need to know jacobians explicitly) This function MUST BE OVERRIDDEN by specialized inherited classes
Implemented in chrono::ChLcpVariablesBodySharedMass, chrono::ChLcpVariablesBodyOwnMass, chrono::ChLcpVariablesNode, and chrono::ChLcpVariablesGeneric.
| virtual void chrono::ChLcpVariables::Compute_fb | ( | ) | [virtual] |
Compute fb, body-relative part of known vector f in system. This function MAY BE OVERRIDDEN by specialized inherited classes (example, for impulsive multibody simulation, this may be fb=dt*Forces+[M]*previous_v ). Another option is to set values into fb vectors, accessing them by Get_fb() from an external procedure, for each body, before starting the LCP solver.
| virtual void chrono::ChLcpVariables::Compute_inc_invMb_v | ( | ChMatrix< float > & | result, |
| const ChMatrix< float > & | vect | ||
| ) | [pure virtual] |
Computes the product of the inverse mass matrix by a vector, and increment result: result += [invMb]*vect This function MUST BE OVERRIDDEN by specialized inherited classes
Implemented in chrono::ChLcpVariablesBodySharedMass, chrono::ChLcpVariablesBodyOwnMass, chrono::ChLcpVariablesGeneric, and chrono::ChLcpVariablesNode.
| virtual void chrono::ChLcpVariables::Compute_invMb_v | ( | ChMatrix< float > & | result, |
| const ChMatrix< float > & | vect | ||
| ) | [pure virtual] |
Computes the product of the inverse mass matrix by a vector, and store in result: result = [invMb]*vect This function MUST BE OVERRIDDEN by specialized inherited classes
Implemented in chrono::ChLcpVariablesBodySharedMass, chrono::ChLcpVariablesBodyOwnMass, chrono::ChLcpVariablesGeneric, and chrono::ChLcpVariablesNode.
| virtual void chrono::ChLcpVariables::Compute_Mb_v | ( | ChMatrix< float > & | result, |
| const ChMatrix< float > & | vect | ||
| ) | [pure virtual] |
Computes the product of the mass matrix by a vector, and store in result: result = [Mb]*vect This function MUST BE OVERRIDDEN by specialized inherited classes
Implemented in chrono::ChLcpVariablesBodySharedMass, chrono::ChLcpVariablesBodyOwnMass, chrono::ChLcpVariablesNode, and chrono::ChLcpVariablesGeneric.
| ChMatrix& chrono::ChLcpVariables::Get_fb | ( | ) |
Returns reference to fb, body-relative part of known vector f in system. | M -Cq'|*|q|- | f|= |0| , c>0, l>0, l*r=0; | Cq 0 | |l| |-b| |c| This function can be used to set values of fb vector before starting the LCP solver.
| virtual int chrono::ChLcpVariables::Get_ndof | ( | ) | [virtual] |
The number of scalar variables in the vector qb (dof=degrees of freedom) This function MUST BE OVERRIDDEN by specialized inherited classes.
Reimplemented in chrono::ChLcpVariablesGeneric, chrono::ChLcpVariablesNode, and chrono::ChLcpVariablesBody.
| ChMatrix& chrono::ChLcpVariables::Get_qb | ( | ) |
Returns reference to qb, body-relative part of degrees of freedom q in system: | M -Cq'|*|q|- | f|= |0| , c>0, l>0, l*r=0; | Cq 0 | |l| |-b| |c|
| bool chrono::ChLcpVariables::IsActive | ( | ) |
Tells if these variables are currently active, in general, that is tells if they must be included into the LCP system solver or not.
| bool chrono::ChLcpVariables::IsDisabled | ( | ) |
Tells if the variables have been deactivated (these 'frozen', variables won't be modified by the LCP system solver).
| void chrono::ChLcpVariables::SetDisabled | ( | bool | mdis | ) |
Tells if the variables have been deactivated (these 'frozen', variables won't be modified by the LCP system solver).
| void chrono::ChLcpVariables::SetOffset | ( | int | moff | ) |
Set offset in global state (not needed by iterative solvers, but simplex solver needs it, so we must waste some bytes for this book-keeping index.) Reserved for ChLcpSimpexSolver.
CHRONO::ENGINE