btDantzigLCP.cpp File Reference

#include "btDantzigLCP.h"
#include <string.h>

Go to the source code of this file.

Classes
struct	btLCP

Macros
#define	btLCP_FAST
#define	BTROWPTRS
#define	BTATYPE   btScalar **
#define	BTAROW(i)
#define	BTNUB_OPTIMIZATIONS
#define	_BTGETA(i, j)
#define	BTGETA(i, j)

Functions
static void	btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1)
static void	btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1)
void	btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1)
void	btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1)
void	btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1)
void	btVectorScale (btScalar *a, const btScalar *d, int n)
void	btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip)
static void	btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, int do_fast_row_swaps)
static void	btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo, btScalar *hi, int *p, bool *state, int *findex, int n, int i1, int i2, int nskip, int do_fast_row_swaps)
void	btRemoveRowCol (btScalar *A, int n, int nskip, int r)
void	btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray< btScalar > &scratch)
size_t	btEstimateLDLTAddTLTmpbufSize (int nskip)
void	btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d, int n1, int n2, int r, int nskip, btAlignedObjectArray< btScalar > &scratch)
bool	btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem)

Variables
bool	s_error = false

Macro Definition Documentation

_BTGETA

#define _BTGETA	(		i,
			j )

Value:

(A[i][j])

Definition at line 1583 of file btDantzigLCP.cpp.

BTAROW

#define BTAROW

(

i

)

Value:

(m_A[i])

Definition at line 125 of file btDantzigLCP.cpp.

Referenced by btLCP::AiC_times_qC(), btLCP::Aii(), btLCP::AiN_times_qN(), btLCP::btLCP(), btLCP::pN_equals_ANC_times_qC(), btLCP::pN_plusequals_ANi(), btLCP::solve1(), btLCP::transfer_i_from_N_to_C(), and btLCP::transfer_i_to_C().

BTATYPE

#define BTATYPE   btScalar **

Definition at line 124 of file btDantzigLCP.cpp.

Referenced by btLCP::btLCP(), btSwapProblem(), and btSwapRowsAndCols().

BTGETA

#define BTGETA	(		i,
			j )

Value:

((i > j) ? _BTGETA(i, j) : _BTGETA(j, i))

Definition at line 1585 of file btDantzigLCP.cpp.

Referenced by btLDLTRemove().

btLCP_FAST

#define btLCP_FAST

Definition at line 120 of file btDantzigLCP.cpp.

BTNUB_OPTIMIZATIONS

#define BTNUB_OPTIMIZATIONS

Definition at line 132 of file btDantzigLCP.cpp.

BTROWPTRS

#define BTROWPTRS

Definition at line 123 of file btDantzigLCP.cpp.

Referenced by btLCP::btLCP().

Function Documentation

btEstimateLDLTAddTLTmpbufSize()

size_t btEstimateLDLTAddTLTmpbufSize ( int nskip )

inline

Definition at line 1587 of file btDantzigLCP.cpp.

Referenced by btLDLTRemove().

btFactorLDLT()

void btFactorLDLT	(	btScalar *	A,
		btScalar *	d,
		int	n,
		int	nskip1 )

Definition at line 305 of file btDantzigLCP.cpp.

References A, btRecip, btSolveL1_1(), btSolveL1_2(), and sum().

Referenced by btLCP::btLCP(), and btSolveDantzigLCP().

btLDLTAddTL()

void btLDLTAddTL	(	btScalar *	L,
		btScalar *	d,
		const btScalar *	a,
		int	n,
		int	nskip,
		btAlignedObjectArray< btScalar > &	scratch )

Definition at line 1502 of file btDantzigLCP.cpp.

References btAssert, L, l, btAlignedObjectArray< T >::resize(), and SIMDSQRT12.

Referenced by btLDLTRemove().

btLDLTRemove()

void btLDLTRemove	(	btScalar **	A,
		const int *	p,
		btScalar *	L,
		btScalar *	d,
		int	n1,
		int	n2,
		int	r,
		int	nskip,
		btAlignedObjectArray< btScalar > &	scratch )

Definition at line 1592 of file btDantzigLCP.cpp.

References A, btAssert, btEstimateLDLTAddTLTmpbufSize(), BTGETA, btLargeDot(), btLDLTAddTL(), btRemoveRowCol(), L, and btAlignedObjectArray< T >::resize().

Referenced by btLCP::transfer_i_from_C_to_N().

btRemoveRowCol()

void btRemoveRowCol	(	btScalar *	A,
		int	n,
		int	nskip,
		int	r )

Definition at line 1464 of file btDantzigLCP.cpp.

References A, and btAssert.

Referenced by btLDLTRemove().

btSolveDantzigLCP()

bool btSolveDantzigLCP	(	int	n,
		btScalar *	A,
		btScalar *	x,
		btScalar *	b,
		btScalar *	outer_w,
		int	nub,
		btScalar *	lo,
		btScalar *	hi,
		int *	findex,
		btDantzigScratchMemory &	scratchMem )

Definition at line 1838 of file btDantzigLCP.cpp.

References A, btLCP::AiC_times_qC(), btLCP::Aii(), btLCP::AiN_times_qN(), btDantzigScratchMemory::Arows, b, BT_INFINITY, btAssert, btFabs(), btFactorLDLT(), btSetZero(), btSolveLDLT(), btDantzigScratchMemory::C, btDantzigScratchMemory::d, btDantzigScratchMemory::Dell, btDantzigScratchMemory::delta_w, btDantzigScratchMemory::delta_x, btDantzigScratchMemory::ell, btLCP::getNub(), btLCP::indexC(), btLCP::indexN(), btDantzigScratchMemory::L, btDantzigScratchMemory::m_scratch, btLCP::numC(), btLCP::numN(), btDantzigScratchMemory::p, btLCP::pC_plusequals_s_times_qC(), btLCP::pN_equals_ANC_times_qC(), btLCP::pN_plusequals_ANi(), btLCP::pN_plusequals_s_times_qN(), btAlignedObjectArray< T >::resize(), s_error, btLCP::solve1(), btDantzigScratchMemory::state, btLCP::transfer_i_from_C_to_N(), btLCP::transfer_i_from_N_to_C(), btLCP::transfer_i_to_C(), btLCP::transfer_i_to_N(), btLCP::unpermute(), w(), and x.

Referenced by btDantzigSolver::solveMLCP().

btSolveL1()

void btSolveL1	(	const btScalar *	L,
		btScalar *	B,
		int	n,
		int	lskip1 )

Definition at line 533 of file btDantzigLCP.cpp.

References B, and L.

Referenced by btSolveLDLT(), btLCP::solve1(), and btLCP::transfer_i_from_N_to_C().

btSolveL1_1()

void btSolveL1_1 ( const btScalar * L, btScalar * B, int n, int lskip1 )

static

Definition at line 144 of file btDantzigLCP.cpp.

References B, and L.

Referenced by btFactorLDLT().

btSolveL1_2()

void btSolveL1_2 ( const btScalar * L, btScalar * B, int n, int lskip1 )

static

Definition at line 219 of file btDantzigLCP.cpp.

References B, and L.

Referenced by btFactorLDLT().

btSolveL1T()

void btSolveL1T	(	const btScalar *	L,
		btScalar *	B,
		int	n,
		int	lskip1 )

Definition at line 832 of file btDantzigLCP.cpp.

References B, and L.

Referenced by btSolveLDLT(), and btLCP::solve1().

btSolveLDLT()

void btSolveLDLT	(	const btScalar *	L,
		const btScalar *	d,
		btScalar *	b,
		int	n,
		int	nskip )

Definition at line 1036 of file btDantzigLCP.cpp.

References b, btAssert, btSolveL1(), btSolveL1T(), btVectorScale(), and L.

Referenced by btLCP::btLCP(), and btSolveDantzigLCP().

btSwapProblem()

void btSwapProblem ( BTATYPE A, btScalar * x, btScalar * b, btScalar * w, btScalar * lo, btScalar * hi, int * p, bool * state, int * findex, int n, int i1, int i2, int nskip, int do_fast_row_swaps )

static

Definition at line 1127 of file btDantzigLCP.cpp.

References A, b, btAssert, BTATYPE, btSwapRowsAndCols(), state, w(), and x.

Referenced by btLCP::btLCP(), btLCP::transfer_i_from_C_to_N(), btLCP::transfer_i_from_N_to_C(), and btLCP::transfer_i_to_C().

btSwapRowsAndCols()

void btSwapRowsAndCols ( BTATYPE A, int n, int i1, int i2, int nskip, int do_fast_row_swaps )

static

Definition at line 1052 of file btDantzigLCP.cpp.

References A, btAssert, and BTATYPE.

Referenced by btSwapProblem().

btVectorScale()

void btVectorScale	(	btScalar *	a,
		const btScalar *	d,
		int	n )

Definition at line 1027 of file btDantzigLCP.cpp.

References btAssert.

Referenced by btSolveLDLT().

Variable Documentation

s_error

bool s_error = false

Definition at line 115 of file btDantzigLCP.cpp.

Referenced by btSolveDantzigLCP().