MBDyn-1.7.3
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups
mbdyn_siconos.h
Go to the documentation of this file.
1 /* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/modules/module-nonsmooth-node/mbdyn_siconos.h,v 1.9 2017/01/12 14:55:58 masarati Exp $ */
2 /*
3  * MBDyn (C) is a multibody analysis code.
4  * http://www.mbdyn.org
5  *
6  * Copyright (C) 1996-2017
7  *
8  * Pierangelo Masarati <masarati@aero.polimi.it>
9  * Paolo Mantegazza <mantegazza@aero.polimi.it>
10  *
11  * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
12  * via La Masa, 34 - 20156 Milano, Italy
13  * http://www.aero.polimi.it
14  *
15  * Changing this copyright notice is forbidden.
16  *
17  * This program is free software; you can redistribute it and/or modify
18  * it under the terms of the GNU General Public License as published by
19  * the Free Software Foundation (version 2 of the License).
20  *
21  *
22  * This program is distributed in the hope that it will be useful,
23  * but WITHOUT ANY WARRANTY; without even the implied warranty of
24  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
25  * GNU General Public License for more details.
26  *
27  * You should have received a copy of the GNU General Public License
28  * along with this program; if not, write to the Free Software
29  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
30  */
31 /*
32  * Author: Matteo Fancello <matteo.fancello@gmail.com>
33  * Nonsmooth dynamics element;
34  * uses SICONOS <http://siconos.gforge.inria.fr/>
35  */
36 
37 #ifndef MBDYN_SICONOS_H
38 #define MBDYN_SICONOS_H
39 
40 enum LCPsolver {
41  // quadratic programming formulation
42  QP,
43 
44  // CPG (Conjugated Projected Gradient) solver for LCP based on quadratic minimization.
45  CPG,
46 
47  // PGS is a basic Projected Gauss-Seidel solver for LCP.
48  PGS,
49 
50  // Regularized Projected Gauss-Seidel, is a solver for LCP,
51  // able to handle matrices with null diagonal terms
53 
54  // Projected Succesive over relaxation solver for LCP. See cottle, Pang Stone Chap 5
56 
57  // quadratic programm formulation for solving an non symmetric LCP
59 
60  // (LArge Time INcrements) is a basic latin solver for LCP.
62 
63  // (LArge Time INcrements) is a basic latin solver with relaxation for LCP
65 
66  // direct solver for LCP based on pivoting method principle for degenerate problem.
67  // Choice of pivot variable is performed via lexicographic ordering
69 
70  // nonsmooth Newton method based on the min formulation (or max formulation) of the LCP
72 
73  // uses a nonsmooth newton method based on the Fischer-Bursmeister convex function
75 
76 #if 0
77  // Gauss-Seidel solver based on a Sparse-Block storage for the matrix M of the LCP.
78  // Can't be used here because Matrix M of the LCP must be formulated as SparseBlockStructuredMatrix.
79  NSGS_SBM
80 #endif
81 };
82 
84  // input parameters
86  double solvertol;
88 
89  // output
90  int info;
91 
92  // only for: CPG, PGS, RPGS, NEWTON, LATIN, PSOR
95 };
96 
97 extern void mbdyn_siconos_LCP_call(int size, double M[], double blcp[], double zlem[], double wlem[], solver_parameters& solparam);
98 
99 #endif // MBDYN_SICONOS_H
void mbdyn_siconos_LCP_call(int size, double M[], double blcp[], double zlem[], double wlem[], solver_parameters &solparam)
LCPsolver
Definition: mbdyn_siconos.h:40