So-Bogus
A c++ sparse block matrix library aimed at Second Order cone problems
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bogus::PyramidLaw< Dimension, Scalar, DeSaxceCOV > Class Template Reference

Experimental and incomplete pyramidal local solver that can be used within GaussSeidel and ProjectedGradient solvers. More...

#include <PyramidLaw.hpp>

Public Types

enum  { dimension = Dimension }
 
typedef LocalProblemTraits
< Dimension, Scalar > 		Traits
 

Public Member Functions

 PyramidLaw (const unsigned n, const double *mu)
 Constructor. More...
 
Scalar eval (const unsigned problemIndex, const typename Traits::Vector &x, const typename Traits::Vector &y) const
 
bool solveLocal (const unsigned problemIndex, const typename Traits::Matrix &A, const typename Traits::Vector &b, typename Traits::Vector &x, const Scalar scaling) const
 Solve for $ y(x) \in - N_C (x)$ with y(x) = Ax + b.
 
void projectOnConstraint (const unsigned problemIndex, typename Traits::Vector &x) const
 Projects x on $ R^+ $.
 
template<typename Segment >
void dualityCOV (const unsigned problemIndex, const Segment &y, typename Traits::Vector &s) const
 Computes the change of variable s(y) so that (x, y+s(y)) obeys an associated law. More...
 

Detailed Description

template<DenseIndexType Dimension, typename Scalar, bool DeSaxceCOV>
class bogus::PyramidLaw< Dimension, Scalar, DeSaxceCOV >

Experimental and incomplete pyramidal local solver that can be used within GaussSeidel and ProjectedGradient solvers.

Warning
solveLocal() is currently implemented in a highly inefficient way. This NSLaw may be used to compare the results with SOCLaw, not to compare performance.
projectOnConstraint() only handles dimensions 2 and 3

For demonstration purposes. Since blocks are 1x1, other libraries are probably more suited.

Template Parameters
Scalarthe scalar type
Dimensionthe dimension of the blocks of the global matrix

Constructor & Destructor Documentation

template<DenseIndexType Dimension, typename Scalar , bool DeSaxceCOV>
bogus::PyramidLaw< Dimension, Scalar, DeSaxceCOV >::PyramidLaw ( const unsigned  n,
const double *  mu 
)

Constructor.

Parameters
nthe size of the global problem ( number of contacts )
muarray containing the apertures of each second order cone ( friction coefficients )

Member Function Documentation

template<DenseIndexType Dimension, typename Scalar , bool DeSaxceCOV>
template<typename Segment >
void bogus::PyramidLaw< Dimension, Scalar, DeSaxceCOV >::dualityCOV ( const unsigned  problemIndex,
const Segment &  y,
typename Traits::Vector &  s 
) const

Computes the change of variable s(y) so that (x, y+s(y)) obeys an associated law.

ie $ y + s(y) \in - N_C(x) $. Here C = K_{mu}, and if

Template Parameters
DeSaxceCOVis true, $ s_i(y) = mu_i \sum |y_{i,T,k}| n $
template<DenseIndexType Dimension, typename Scalar , bool DeSaxceCOV>
Scalar bogus::PyramidLaw< Dimension, Scalar, DeSaxceCOV >::eval ( const unsigned  problemIndex,
const typename Traits::Vector &  x,
const typename Traits::Vector &  y 
) const
Returns
$ \vert fb( mu, x, y ) \vert^2_2 $, where fb is the SOC Fischer-Burmeister function
The documentation for this class was generated from the following file: