MobyLCPSolver Class Reference

#include <drake/solvers/MobyLCP.h>

Inheritance diagram for MobyLCPSolver:

Collaboration diagram for MobyLCPSolver:

Public Member Functions
	MobyLCPSolver ()
virtual	~MobyLCPSolver ()
void	SetLoggingEnabled (bool enabled)
bool	SolveLcpFast (const Eigen::MatrixXd &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, double zero_tol=-1.0) const
	Fast pivoting algorithm for denerate, monotone LCPs with few nonzero, nonbasic variables. More...
bool	SolveLcpFastRegularized (const Eigen::MatrixXd &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, int min_exp=-20, unsigned step_exp=4, int max_exp=20, double zero_tol=-1.0) const
	Regularized wrapper around PPM I. More...
bool	SolveLcpLemke (const Eigen::MatrixXd &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, double piv_tol=-1.0, double zero_tol=-1.0) const
	Lemke's algorithm for solving linear complementarity problems. More...
bool	SolveLcpLemkeRegularized (const Eigen::MatrixXd &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, int min_exp=-20, unsigned step_exp=1, int max_exp=1, double piv_tol=-1.0, double zero_tol=-1.0) const
	Regularized wrapper around Lemke's algorithm. More...
bool	SolveLcpLemke (const Eigen::SparseMatrix< double > &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, double piv_tol=-1.0, double zero_tol=-1.0) const
	Lemke's algorithm for solving linear complementarity problems using sparse matrices. More...
bool	SolveLcpLemkeRegularized (const Eigen::SparseMatrix< double > &M, const Eigen::VectorXd &q, Eigen::VectorXd *z, int min_exp=-20, unsigned step_exp=4, int max_exp=20, double piv_tol=-1.0, double zero_tol=-1.0) const
	Regularized wrapper around Lemke's algorithm for srpase matrices. More...
bool	available () const override
	Returns true iff this solver was enabled at compile-time. More...
SolutionResult	Solve (OptimizationProblem &prog) const override
	Sets values for the decision variables on the given OptimizationProblem prog, or: More...
Public Member Functions inherited from MathematicalProgramSolverInterface
virtual	~MathematicalProgramSolverInterface ()=default

Constructor & Destructor Documentation

MobyLCPSolver

(

)

virtual ~MobyLCPSolver ( )

inlinevirtual

Member Function Documentation

bool available ( ) const

inlineoverridevirtual

Returns true iff this solver was enabled at compile-time.

Implements MathematicalProgramSolverInterface.

void SetLoggingEnabled

(

bool

enabled

)

SolutionResult Solve ( OptimizationProblem &  prog ) const

overridevirtual

Sets values for the decision variables on the given OptimizationProblem prog, or:

• If no solver is available, throws std::runtime_error
• If the solver returns an error, returns a nonzero SolutionResult.

Implements MathematicalProgramSolverInterface.

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bool SolveLcpFast	(	const Eigen::MatrixXd &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		double	zero_tol = -1.0
	)		const

Fast pivoting algorithm for denerate, monotone LCPs with few nonzero, nonbasic variables.

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bool SolveLcpFastRegularized	(	const Eigen::MatrixXd &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		int	min_exp = -20,
		unsigned	step_exp = 4,
		int	max_exp = 20,
		double	zero_tol = -1.0
	)		const

Regularized wrapper around PPM I.

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bool SolveLcpLemke	(	const Eigen::MatrixXd &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		double	piv_tol = -1.0,
		double	zero_tol = -1.0
	)		const

Lemke's algorithm for solving linear complementarity problems.

Parameters

z	a vector "close" to the solution on input (optional); contains the solution on output

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bool SolveLcpLemke	(	const Eigen::SparseMatrix< double > &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		double	piv_tol = -1.0,
		double	zero_tol = -1.0
	)		const

Lemke's algorithm for solving linear complementarity problems using sparse matrices.

Parameters

z	a vector "close" to the solution on input (optional); contains the solution on output

bool SolveLcpLemkeRegularized	(	const Eigen::MatrixXd &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		int	min_exp = -20,
		unsigned	step_exp = 1,
		int	max_exp = 1,
		double	piv_tol = -1.0,
		double	zero_tol = -1.0
	)		const

Regularized wrapper around Lemke's algorithm.

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bool SolveLcpLemkeRegularized	(	const Eigen::SparseMatrix< double > &	M,
		const Eigen::VectorXd &	q,
		Eigen::VectorXd *	z,
		int	min_exp = -20,
		unsigned	step_exp = 4,
		int	max_exp = 20,
		double	piv_tol = -1.0,
		double	zero_tol = -1.0
	)		const

Regularized wrapper around Lemke's algorithm for srpase matrices.

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

• drake/solvers/MobyLCP.h
• drake/solvers/MobyLCP.cpp