maspack.solvers
Class DantzigLCPSolverTest

java.lang.Object
  extended by maspack.solvers.DantzigLCPSolverTest

public class DantzigLCPSolverTest
extends java.lang.Object


Constructor Summary
DantzigLCPSolverTest()
           
 
Method Summary
 void createTestCase(MatrixNd M, VectorNd q, VectorNd lo, VectorNd hi, int nub, int nalpha, int rank)
           
 void execute()
           
static void main(java.lang.String[] args)
           
 void testMultiPointContact(double ang, double mu)
          Create a test case involving multi-point contact of a box on a plane.
 void testSinglePointContact(double ang, double mu)
          Create a test case involving a single point contact on a plane.
 void testSolver(MatrixNd M, VectorNd q, int size, DantzigLCPSolver.Status expectedStatus)
           
 void testSolver(VectorNd z, VectorNd w, MatrixNd M, VectorNd q, VectorNd lo, VectorNd hi, int nub, int size, DantzigLCPSolver.Status expectedStatus)
           
 void testSpecial(double[] Mvals, double[] qvals)
           
 void testSpecial(double[] Mvals, double[] qvals, double[] loVals, double[] hiVals, int nub)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DantzigLCPSolverTest

public DantzigLCPSolverTest()
Method Detail

testSolver

public void testSolver(VectorNd z,
                       VectorNd w,
                       MatrixNd M,
                       VectorNd q,
                       VectorNd lo,
                       VectorNd hi,
                       int nub,
                       int size,
                       DantzigLCPSolver.Status expectedStatus)

testSolver

public void testSolver(MatrixNd M,
                       VectorNd q,
                       int size,
                       DantzigLCPSolver.Status expectedStatus)

testSpecial

public void testSpecial(double[] Mvals,
                        double[] qvals)

testSpecial

public void testSpecial(double[] Mvals,
                        double[] qvals,
                        double[] loVals,
                        double[] hiVals,
                        int nub)

testSinglePointContact

public void testSinglePointContact(double ang,
                                   double mu)
Create a test case involving a single point contact on a plane. The angle of the plane surface relative to the horizontal is ang, and the friction coefficient is mu.


testMultiPointContact

public void testMultiPointContact(double ang,
                                  double mu)
Create a test case involving multi-point contact of a box on a plane. The angle of the plane normal relative to the horizontal is ang, and the friction coefficient is mu.


createTestCase

public void createTestCase(MatrixNd M,
                           VectorNd q,
                           VectorNd lo,
                           VectorNd hi,
                           int nub,
                           int nalpha,
                           int rank)

execute

public void execute()

main

public static void main(java.lang.String[] args)