mbdyn_siconos.h

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/* $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 $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
/*
 * Author: Matteo Fancello <matteo.fancello@gmail.com>
 * Nonsmooth dynamics element;
 * uses SICONOS <http://siconos.gforge.inria.fr/>
 */

#ifndef MBDYN_SICONOS_H
#define MBDYN_SICONOS_H

enum LCPsolver {        
        // quadratic programming formulation
        QP,

        // CPG (Conjugated Projected Gradient) solver for LCP based on quadratic minimization.
        CPG,

        // PGS is a basic Projected Gauss-Seidel solver for LCP.
        PGS,

        // Regularized Projected Gauss-Seidel, is a solver for LCP, 
        // able to handle matrices with null diagonal terms
        RPGS,

        // Projected Succesive over relaxation solver for LCP. See cottle, Pang Stone Chap 5
        PSOR,

        // quadratic programm formulation for solving an non symmetric LCP
        NSQP,

        // (LArge Time INcrements) is a basic latin solver for LCP.
        LATIN,

        // (LArge Time INcrements) is a basic latin solver with relaxation for LCP
        LATIN_W,

        // direct solver for LCP based on pivoting method principle for degenerate problem.
        // Choice of pivot variable is performed via lexicographic ordering 
        LEXICO_LEMKE,

        // nonsmooth Newton method based on the min formulation (or max formulation) of the LCP
        NEWTON_MIN,

        // uses a nonsmooth newton method based on the Fischer-Bursmeister convex function
        NEWTON_FB

#if 0
        // Gauss-Seidel solver based on a Sparse-Block storage for the matrix M of the LCP.
        // Can't be used here because Matrix M of the LCP must be formulated as SparseBlockStructuredMatrix. 
        NSGS_SBM
#endif
};

struct solver_parameters {
        // input parameters
        LCPsolver solver; 
        double solvertol;
        int solveritermax;
        
        // output 
        int info;

        // only for: CPG, PGS, RPGS, NEWTON, LATIN, PSOR
        int processed_iterations;
        double resulting_error;
};

extern void mbdyn_siconos_LCP_call(int size, double M[], double blcp[], double zlem[], double wlem[], solver_parameters& solparam);

#endif // MBDYN_SICONOS_H