btLemkeAlgorithm Class Reference

#include <btLemkeAlgorithm.h>

Public Member Functions
	btLemkeAlgorithm (const btMatrixXu &M_, const btVectorXu &q_, const int &DEBUGLEVEL_=0)
int	getInfo ()
	return info of solution process More...
int	getSteps (void)
	get the number of steps until the solution was found More...
void	setSystem (const btMatrixXu &M_, const btVectorXu &q_)
	set system with Matrix M and vector q More...
btVectorXu	solve (unsigned int maxloops=0)
	solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. More...
virtual	~btLemkeAlgorithm ()

Protected Member Functions
int	findLexicographicMinimum (const btMatrixXu &A, const int &pivotColIndex)
bool	LexicographicPositive (const btVectorXu &v)
void	GaussJordanEliminationStep (btMatrixXu &A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray< int > &basis)
bool	greaterZero (const btVectorXu &vector)
bool	validBasis (const btAlignedObjectArray< int > &basis)

Protected Attributes
btMatrixXu	m_M
btVectorXu	m_q
unsigned int	steps
	number of steps until the Lemke algorithm found a solution More...
int	DEBUGLEVEL
	define level of debug output More...
int	info
	did the algorithm find a solution More...

Detailed Description

Definition at line 32 of file btLemkeAlgorithm.h.

Constructor & Destructor Documentation

btLemkeAlgorithm::btLemkeAlgorithm ( const btMatrixXu &  M_, const btVectorXu &  q_, const int &  DEBUGLEVEL_ = 0  )

inline

Definition at line 37 of file btLemkeAlgorithm.h.

virtual btLemkeAlgorithm::~btLemkeAlgorithm ( )

inlinevirtual

Definition at line 75 of file btLemkeAlgorithm.h.

Member Function Documentation

int btLemkeAlgorithm::findLexicographicMinimum ( const btMatrixXu &  A, const int &  pivotColIndex  )

protected

Definition at line 224 of file btLemkeAlgorithm.cpp.

void btLemkeAlgorithm::GaussJordanEliminationStep ( btMatrixXu &  A, int  pivotRowIndex, int  pivotColumnIndex, const btAlignedObjectArray< int > &  basis  )

protected

Definition at line 298 of file btLemkeAlgorithm.cpp.

int btLemkeAlgorithm::getInfo ( )

inline

return info of solution process

Definition at line 47 of file btLemkeAlgorithm.h.

int btLemkeAlgorithm::getSteps ( void  )

inline

get the number of steps until the solution was found

Definition at line 54 of file btLemkeAlgorithm.h.

bool btLemkeAlgorithm::greaterZero ( const btVectorXu &  vector )

protected

Definition at line 345 of file btLemkeAlgorithm.cpp.

bool btLemkeAlgorithm::LexicographicPositive ( const btVectorXu &  v )

protected

Definition at line 284 of file btLemkeAlgorithm.cpp.

void btLemkeAlgorithm::setSystem ( const btMatrixXu &  M_, const btVectorXu &  q_  )

inline

set system with Matrix M and vector q

Definition at line 63 of file btLemkeAlgorithm.h.

btVectorXu btLemkeAlgorithm::solve

(

unsigned int

maxloops = 0

)

solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E.

Lloyd)

Definition at line 63 of file btLemkeAlgorithm.cpp.

bool btLemkeAlgorithm::validBasis ( const btAlignedObjectArray< int > &  basis )

protected

Definition at line 358 of file btLemkeAlgorithm.cpp.

Member Data Documentation

int btLemkeAlgorithm::DEBUGLEVEL

protected

define level of debug output

Definition at line 96 of file btLemkeAlgorithm.h.

int btLemkeAlgorithm::info

protected

did the algorithm find a solution

-1 : not successful 0 : successful

Definition at line 104 of file btLemkeAlgorithm.h.

btMatrixXu btLemkeAlgorithm::m_M

protected

Definition at line 85 of file btLemkeAlgorithm.h.

btVectorXu btLemkeAlgorithm::m_q

protected

Definition at line 86 of file btLemkeAlgorithm.h.

unsigned int btLemkeAlgorithm::steps

protected

number of steps until the Lemke algorithm found a solution

Definition at line 91 of file btLemkeAlgorithm.h.

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The documentation for this class was generated from the following files:

• btLemkeAlgorithm.h
• btLemkeAlgorithm.cpp