Description

Wrapper class for all complementarity solvers.

#include <ChIterativeSolverMulticore.h>

Inheritance diagram for chrono::ChIterativeSolverMulticoreNSC:

[legend]

Collaboration diagram for chrono::ChIterativeSolverMulticoreNSC:

[legend]

Public Member Functions
	ChIterativeSolverMulticoreNSC (ChMulticoreDataManager *dc)

virtual void	RunTimeStep ()
	Similarly, the run timestep function needs to be defined.

virtual void	ComputeImpulses ()
	This function computes the new velocities based on the lagrange multipliers.

void	ComputeD ()
	Compute the constraint Jacobian matrix.

void	ComputeE ()
	Compute the compliance matrix.

void	ComputeR ()
	Compute the RHS vector. This will not change depending on the solve.

void	ComputeN ()
	Compute the Shur matrix N.

void	SetR ()
	Set the RHS vector depending on the local solver mode.

void	PreSolve ()
	This function computes an initial guess for each contact.

void	ChangeSolverType (SolverType type)
	This function is used to change the solver algorithm.

Public Member Functions inherited from chrono::ChIterativeSolverMulticore
virtual double	Solve (ChSystemDescriptor &sysd) override
	Each child class must define its own solve method.

void	ComputeInvMassMatrix ()
	Compute the inverse mass matrix and the term v+M_inv*hf.

void	ComputeMassMatrix ()
	Compute mass matrix.

void	PerformStabilization ()
	Solves just the bilaterals so that they can be warm started.

real	GetResidual () const

virtual double	GetError () const override
	Return the tolerance error reached during the last solve.

Public Member Functions inherited from chrono::ChIterativeSolverVI
void	SetOmega (double mval)
	Set the overrelaxation factor (default: 1.0). More...

void	SetSharpnessLambda (double mval)
	Set the sharpness factor (default: 1.0). More...

void	SetRecordViolation (bool mval)
	Enable/disable recording of the constraint violation history. More...

double	GetOmega () const
	Return the current value of the overrelaxation factor.

double	GetSharpnessLambda () const
	Return the current value of the sharpness factor.

virtual int	GetIterations () const override
	Return the number of iterations performed during the last solve.

const std::vector< double > &	GetViolationHistory () const
	Access the vector of constraint violation history. More...

const std::vector< double > &	GetDeltalambdaHistory () const
	Access the vector with history of maximum change in Lagrange multipliers Note that collection of constraint violations must be enabled through SetRecordViolation.

Public Member Functions inherited from chrono::ChIterativeSolver
void	SetMaxIterations (int max_iterations)
	Set the maximum number of iterations.

void	SetTolerance (double tolerance)
	Set the tolerance threshold used by the stopping criteria.

void	EnableDiagonalPreconditioner (bool val)
	Enable/disable use of a simple diagonal preconditioner (default: true). More...

void	EnableWarmStart (bool val)
	Enable/disable warm starting by providing an initial guess (default: false). More...

int	GetMaxIterations () const
	Get the current maximum number of iterations.

double	GetTolerance () const
	Get the current tolerance value.

Public Member Functions inherited from chrono::ChSolver
virtual Type	GetType () const
	Return type of the solver.

virtual bool	Setup (ChSystemDescriptor &sysd)
	This function does the setup operations for the solver. More...

void	SetVerbose (bool mv)
	Set verbose output from solver.

Additional Inherited Members
Public Types inherited from chrono::ChSolver
enum	Type { Type::PSOR = 0, Type::PSSOR, Type::PJACOBI, Type::PMINRES, Type::BARZILAIBORWEIN, Type::APGD, Type::ADDM, Type::SPARSE_LU, Type::SPARSE_QR, Type::PARDISO_MKL, Type::PARDISO_PROJECT, Type::MUMPS, Type::GMRES, Type::MINRES, Type::BICGSTAB, CUSTOM }
	Available types of solvers. More...

Public Attributes inherited from chrono::ChIterativeSolverMulticore
ChMulticoreDataManager *	data_manager

ChSolverMulticore *	solver

ChSolverMulticore *	bilateral_solver

Protected Member Functions inherited from chrono::ChIterativeSolverMulticore
	ChIterativeSolverMulticore (ChMulticoreDataManager *dc)

Protected Member Functions inherited from chrono::ChIterativeSolverVI
void	AtIterationEnd (double mmaxviolation, double mdeltalambda, unsigned int iternum)
	This method MUST be called by all iterative methods INSIDE their iteration loops (at the end). More...

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow de-serialization of transient data from archives.

virtual bool	SolveRequiresMatrix () const override
	Indicate whether ot not the Solve() phase requires an up-to-date problem matrix. More...

Protected Member Functions inherited from chrono::ChIterativeSolver
	ChIterativeSolver (int max_iterations, double tolerance, bool use_precond, bool warm_start)

void	SaveMatrix (ChSystemDescriptor &sysd)

double	CheckSolution (ChSystemDescriptor &sysd, const ChVectorDynamic<> &x)

Protected Attributes inherited from chrono::ChIterativeSolverMulticore
ChShurProductBilateral	ShurProductBilateral

ChProjectNone	ProjectNone

Protected Attributes inherited from chrono::ChIterativeSolverVI
int	m_iterations
	total number of iterations performed by the solver

double	m_omega
	over-relaxation factor

double	m_shlambda
	sharpness factor

bool	record_violation_history

std::vector< double >	violation_history

std::vector< double >	dlambda_history

Protected Attributes inherited from chrono::ChIterativeSolver
bool	m_use_precond
	use diagonal preconditioning?

bool	m_warm_start
	use initial guesss?

int	m_max_iterations
	maximum number of iterations

double	m_tolerance
	tolerance threshold in stopping criteria

Protected Attributes inherited from chrono::ChSolver
bool	verbose

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

/builds/uwsbel/chrono/src/chrono_multicore/solver/ChIterativeSolverMulticore.h
/builds/uwsbel/chrono/src/chrono_multicore/solver/ChIterativeSolverMulticoreNSC.cpp

Description

Public Member Functions

Additional Inherited Members