MurtyMechSolver (Artisynth API documentation)

java.lang.Object
- maspack.solvers.MurtyMechSolver

public class MurtyMechSolver
extends java.lang.Object

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`CONTACT_SOLVE`
`boolean`	`debug`
`static int`	`NT_INACTIVE`
`static int`	`REBUILD_A`
`static int`	`SHOW_ALL`
`static int`	`SHOW_BLOCK_PIVOT_CHANGE`
`static int`	`SHOW_NONE`
`static int`	`SHOW_PIVOTS`
`static int`	`SHOW_RETURNS`
`static int`	`SHOW_TOL_UPDATE`
`static int`	`SHOW_VARIABLES`
`boolean`	`showAStructureChange`
`boolean`	`showRebuildReason`

Constructor Summary

Constructors
Constructor and Description

MurtyMechSolver()

Constructors
Constructor and Description
`MurtyMechSolver()`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`LCPSolver.Status`	`contactSolve(VectorNd vel, VectorNd lam, VectorNd the, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN)`
`LCPSolver.Status`	`contactSolve(VectorNd vel, VectorNd lam, VectorNd the, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN, int flags)`
`void`	`dispose()`
`void`	`finalize()`
`MatrixNd`	`getA()`
`java.lang.String`	`getAConsString()`
`boolean`	`getAdaptivelyRebuildA()` Queries whether A should be adaptively rebuilt at the beginning of each solve.
`double`	`getAvgAnalyzeTime()`
`double`	`getAvgFactorTime()`
`double`	`getAvgSolveTime()`
`int`	`getBlockPivotFailCount()` Returns the number of times that block pivoting failed during the most recent solve.
`boolean`	`getBlockPivoting()`
`int`	`getDebug()`
`static boolean`	`getDefaultAdaptivelyRebuildA()` Queries the (static) default setting of `getAdaptivelyRebuildA()`.
`int`	`getHybridSolveCount()` Returns the current count of hybrid solve solutions.
`boolean`	`getHybridSolves()` Queries whether hybrid solves are enabled.
`int`	`getIterationCount()` Returns the number of iterations that were used in the most recent solution operation.
`int`	`getIterationLimit()` Gets the iteration limit for this solver.
`boolean`	`getLastBlockPivoting()`
`double`	`getLastSolveTol()`
`int`	`getLastVersionM()`
`boolean`	`getNTFrictionActivity()` Queries whether the activity of `NT` is fixed during friciton solves.
`int`	`getPivotCount()` Returns the number of pivots that were used in the most recent solution operation.
`double`	`getRebuildARatio()` Queries the rebuild A ratio.
`boolean`	`getSilent()`
`int`	`getSolveCount()` Returns the number of solves of A that were used in the most recent solution operation.
`VectorNi`	`getStateA()`
`double`	`getTolerance()` Returns the numeric tolerence for this solver.
`int`	`getTotalAnalyzeCount()`
`int`	`getTotalFactorCount()`
`int`	`getTotalSolveCount()`
`boolean`	`getUpdateABetweenSolves()` Queries whether the solver should attempt to update A, instead of always rebuilding it, between solves.
`VectorNd`	`getW()` Returns the w vector associated with the most recent solve.
`void`	`initialize()`
`boolean`	`isAMatrixFactored()`
`boolean`	`isBLCPSupported()`
`int`	`numFailedPivots()`
`void`	`resetTimers()`
`void`	`resolveMG(VectorNd vel, VectorNd lam, VectorNd bm, VectorNd bg)`
`void`	`setAdaptivelyRebuildA(boolean enable)` Sets whether A should be adaptively rebuilt at the beginning of each solve.
`void`	`setBlockPivoting(boolean enable)`
`void`	`setDebug(int code)`
`static void`	`setDefaultAdaptivelyRebuildA(boolean enable)` Sets the (static) default setting of `getAdaptivelyRebuildA()`.
`void`	`setHybridSolves(boolean enable)` Enables hybrid solves.
`void`	`setIterationLimit(int limit)` Sets the iteration limit for this solver.
`void`	`setNTFrictionActivity(boolean enable)` Enables or disables activity of the `NT` matrix during friction solves, which occur in the friction iterations associated with `solve()` calls.
`void`	`setRebuildARatio(double r)` Sets the rebuild A ratio `r`.
`void`	`setSilent(boolean code)`
`void`	`setSolver(DirectSolver solver)`
`void`	`setSolverType(SparseSolverId solverType)`
`void`	`setTolerance(double tol)` Sets the numeric tolerance for this solver.
`void`	`setUpdateABetweenSolves(boolean enable)` Sets whether the solver should attempt to update A, instead of always rebuilding it, between solves.
`LCPSolver.Status`	`solve(VectorNd vel, VectorNd lam, VectorNd the, VectorNd phi, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN, SparseBlockMatrix DT, VectorNd Rd, VectorNd bd, VectorNi stateD, java.util.ArrayList<FrictionInfo> finfo)`
`LCPSolver.Status`	`solve(VectorNd vel, VectorNd lam, VectorNd the, VectorNd phi, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN, SparseBlockMatrix DT, VectorNd Rd, VectorNd bd, VectorNi stateD, java.util.ArrayList<FrictionInfo> finfo, int frictionIters, int flags)`
`LCPSolver.Status`	`solve(VectorNd vel, VectorNd lam, VectorNd the, VectorNd phi, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN, SparseBlockMatrix DT, VectorNd Rd, VectorNd bd, VectorNi stateD, VectorNd flim)`
`LCPSolver.Status`	`solve(VectorNd vel, VectorNd lam, VectorNd the, VectorNd phi, SparseBlockMatrix M, int sizeM, VectorNd bm, int versionM, SparseBlockMatrix GT, VectorNd Rg, VectorNd bg, SparseBlockMatrix NT, VectorNd Rn, VectorNd bn, VectorNi stateN, SparseBlockMatrix DT, VectorNd Rd, VectorNd bd, VectorNi stateD, VectorNd flim, int flags)`
`void`	`writeA(java.lang.String filename, Matrix.WriteFormat wfmt)`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

debug
```
public boolean debug
```

showAStructureChange
```
public boolean showAStructureChange
```

showRebuildReason
```
public boolean showRebuildReason
```

CONTACT_SOLVE
```
public static int CONTACT_SOLVE
```

NT_INACTIVE
```
public static int NT_INACTIVE
```

REBUILD_A
```
public static int REBUILD_A
```

SHOW_NONE
```
public static final int SHOW_NONE
```
See Also:

Constant Field Values

SHOW_PIVOTS
```
public static final int SHOW_PIVOTS
```
See Also:

Constant Field Values

SHOW_TOL_UPDATE
```
public static final int SHOW_TOL_UPDATE
```
See Also:

Constant Field Values

SHOW_BLOCK_PIVOT_CHANGE
```
public static final int SHOW_BLOCK_PIVOT_CHANGE
```
See Also:

Constant Field Values

SHOW_VARIABLES
```
public static final int SHOW_VARIABLES
```
See Also:

Constant Field Values

SHOW_RETURNS
```
public static final int SHOW_RETURNS
```
See Also:

Constant Field Values

SHOW_ALL
```
public static final int SHOW_ALL
```
See Also:

Constant Field Values

Constructor Detail
- MurtyMechSolver
```
public MurtyMechSolver()
```

Method Detail

getDebug
```
public int getDebug()
```

setDebug
```
public void setDebug(int code)
```

getSilent
```
public boolean getSilent()
```

setSilent
```
public void setSilent(boolean code)
```

getAdaptivelyRebuildA
```
public boolean getAdaptivelyRebuildA()
```
Queries whether A should be adaptively rebuilt at the beginning of each solve. See setAdaptivelyRebuildA(boolean).

Returns:

true if A should be adaptively rebuilt

setAdaptivelyRebuildA
```
public void setAdaptivelyRebuildA(boolean enable)
```
Sets whether A should be adaptively rebuilt at the beginning of each solve. If enabled, A will be rebuilt if the average update time is >= half the average analyze time.

Parameters:

enable - if true, A should be adaptively rebuilt

getDefaultAdaptivelyRebuildA
```
public static boolean getDefaultAdaptivelyRebuildA()
```
Queries the (static) default setting of getAdaptivelyRebuildA().

Returns:

default setting for getAdaptivelyRebuildA().

setDefaultAdaptivelyRebuildA
```
public static void setDefaultAdaptivelyRebuildA(boolean enable)
```
Sets the (static) default setting of getAdaptivelyRebuildA().

Parameters:

enable - new default setting for getAdaptivelyRebuildA().

getUpdateABetweenSolves
```
public boolean getUpdateABetweenSolves()
```
Queries whether the solver should attempt to update A, instead of always rebuilding it, between solves.

Returns:

true if A should be updated between solves

setUpdateABetweenSolves
```
public void setUpdateABetweenSolves(boolean enable)
```
Sets whether the solver should attempt to update A, instead of always rebuilding it, between solves.

Parameters:

enable - if true, A should be updated between solves

getRebuildARatio
```
public double getRebuildARatio()
```
Queries the rebuild A ratio. See setRebuildARatio(double).

Returns:

current rebuild A ratio

setRebuildARatio
```
public void setRebuildARatio(double r)
```
Sets the rebuild A ratio r. The A matrix will be rebuilt at the start of a solve if sizeND/myAconsData.size() <= r.

Parameters:

r - new rebuild A ratio.

setSolverType

public void setSolverType(SparseSolverId solverType)

setSolver

public void setSolver(DirectSolver solver)

getTolerance
```
public double getTolerance()
```
Returns the numeric tolerence for this solver.

Returns:

numeric tolerance

See Also:

setTolerance(double)

setTolerance
```
public void setTolerance(double tol)
```
Sets the numeric tolerance for this solver. This is used to determine when q' >= 0, as described in the class documentation. In particular, a solution will be considered found whenever q' >= -tol.

Parameters:

tol - new numeric tolerance. Negative numbers will be truncated to 0.

See Also:

getTolerance()

getBlockPivoting
```
public boolean getBlockPivoting()
```

setBlockPivoting

public void setBlockPivoting(boolean enable)

getLastBlockPivoting
```
public boolean getLastBlockPivoting()
```

getLastSolveTol
```
public double getLastSolveTol()
```

getLastVersionM
```
public int getLastVersionM()
```

numFailedPivots
```
public int numFailedPivots()
```

getIterationLimit
```
public int getIterationLimit()
```
Gets the iteration limit for this solver. This value multiplied by the size of the LCP matrix gives the maximum number of iterations allowed for the solver.

Returns:

iteration limit

setIterationLimit
```
public void setIterationLimit(int limit)
```
Sets the iteration limit for this solver. This value multiplied by the size of the LCP matrix gives the maximum number of iterations allowed for the solver. The maximum number of iterations is specified in this way because the expected number of iterations for Dantzig's algorithm is proportional to the size of the LCP matrix.

Parameters:

limit - new iteration limit

getIterationCount
```
public int getIterationCount()
```
Returns the number of iterations that were used in the most recent solution operation.

Returns:

iteration count for last solution

getPivotCount
```
public int getPivotCount()
```
Returns the number of pivots that were used in the most recent solution operation. If block pivoting is enabled, this will usually exceed the number of iterations. Otherwise, this number should be one less than the number of iterations.

Returns:

pivot count for last solution

getBlockPivotFailCount
```
public int getBlockPivotFailCount()
```
Returns the number of times that block pivoting failed during the most recent solve. This may be more than 1 if attempts to retart block pivoting also fail.

Returns:

block pivot failure count

getSolveCount
```
public int getSolveCount()
```
Returns the number of solves of A that were used in the most recent solution operation.

Returns:

solve count for last solution

getHybridSolves
```
public boolean getHybridSolves()
```
Queries whether hybrid solves are enabled. See setHybridSolves(boolean).

Returns:

true if hybrid solves are enabled.

getHybridSolveCount
```
public int getHybridSolveCount()
```
Returns the current count of hybrid solve solutions. This count is increased whenever a solution is computed using hybrid solves, and reset to 0 whenever it is not.

Returns:

current hybrid solve count

setHybridSolves
```
public void setHybridSolves(boolean enable)
```
Enables hybrid solves. If enabled, the sparse solver will attempt to use a hybrid direct/iterative method for solving the A matrix, which can result in a significant performance improvement. However, hybrid solves can only be called in limited situtations where no pivoting is anticipated (i.e., the N and D matrices are null).

Parameters:

enable - if true, enables hybrid solves

getNTFrictionActivity
```
public boolean getNTFrictionActivity()
```
Queries whether the activity of NT is fixed during friciton solves. See setNTFrictionActivity(boolean).

Returns:

true if the activity of NT is enabled during friction solves

setNTFrictionActivity
```
public void setNTFrictionActivity(boolean enable)
```
Enables or disables activity of the NT matrix during friction solves, which occur in the friction iterations associated with solve() calls. If actvity is disabled, the activity state of NT will not be changed, and so those constraints will be treated as bilateral. This will typically reduce the number of required pivots and allow a faster solution, at the expense of some accuracy. The resulting values of the may also be negative. When updating friction limits, negative values of NT will be clipped to 0.
The default value of this setting is true.

Parameters:

enable - if false, disables the activity of NT during friction solves

isBLCPSupported
```
public boolean isBLCPSupported()
```

getA
```
public MatrixNd getA()
```

writeA

public void writeA(java.lang.String filename,
                   Matrix.WriteFormat wfmt)

contactSolve

public LCPSolver.Status contactSolve(VectorNd vel,
                                     VectorNd lam,
                                     VectorNd the,
                                     SparseBlockMatrix M,
                                     int sizeM,
                                     VectorNd bm,
                                     int versionM,
                                     SparseBlockMatrix GT,
                                     VectorNd Rg,
                                     VectorNd bg,
                                     SparseBlockMatrix NT,
                                     VectorNd Rn,
                                     VectorNd bn,
                                     VectorNi stateN)

contactSolve

public LCPSolver.Status contactSolve(VectorNd vel,
                                     VectorNd lam,
                                     VectorNd the,
                                     SparseBlockMatrix M,
                                     int sizeM,
                                     VectorNd bm,
                                     int versionM,
                                     SparseBlockMatrix GT,
                                     VectorNd Rg,
                                     VectorNd bg,
                                     SparseBlockMatrix NT,
                                     VectorNd Rn,
                                     VectorNd bn,
                                     VectorNi stateN,
                                     int flags)

solve

public LCPSolver.Status solve(VectorNd vel,
                              VectorNd lam,
                              VectorNd the,
                              VectorNd phi,
                              SparseBlockMatrix M,
                              int sizeM,
                              VectorNd bm,
                              int versionM,
                              SparseBlockMatrix GT,
                              VectorNd Rg,
                              VectorNd bg,
                              SparseBlockMatrix NT,
                              VectorNd Rn,
                              VectorNd bn,
                              VectorNi stateN,
                              SparseBlockMatrix DT,
                              VectorNd Rd,
                              VectorNd bd,
                              VectorNi stateD,
                              java.util.ArrayList<FrictionInfo> finfo)

solve

public LCPSolver.Status solve(VectorNd vel,
                              VectorNd lam,
                              VectorNd the,
                              VectorNd phi,
                              SparseBlockMatrix M,
                              int sizeM,
                              VectorNd bm,
                              int versionM,
                              SparseBlockMatrix GT,
                              VectorNd Rg,
                              VectorNd bg,
                              SparseBlockMatrix NT,
                              VectorNd Rn,
                              VectorNd bn,
                              VectorNi stateN,
                              SparseBlockMatrix DT,
                              VectorNd Rd,
                              VectorNd bd,
                              VectorNi stateD,
                              java.util.ArrayList<FrictionInfo> finfo,
                              int frictionIters,
                              int flags)

solve

public LCPSolver.Status solve(VectorNd vel,
                              VectorNd lam,
                              VectorNd the,
                              VectorNd phi,
                              SparseBlockMatrix M,
                              int sizeM,
                              VectorNd bm,
                              int versionM,
                              SparseBlockMatrix GT,
                              VectorNd Rg,
                              VectorNd bg,
                              SparseBlockMatrix NT,
                              VectorNd Rn,
                              VectorNd bn,
                              VectorNi stateN,
                              SparseBlockMatrix DT,
                              VectorNd Rd,
                              VectorNd bd,
                              VectorNi stateD,
                              VectorNd flim)

solve

public LCPSolver.Status solve(VectorNd vel,
                              VectorNd lam,
                              VectorNd the,
                              VectorNd phi,
                              SparseBlockMatrix M,
                              int sizeM,
                              VectorNd bm,
                              int versionM,
                              SparseBlockMatrix GT,
                              VectorNd Rg,
                              VectorNd bg,
                              SparseBlockMatrix NT,
                              VectorNd Rn,
                              VectorNd bn,
                              VectorNi stateN,
                              SparseBlockMatrix DT,
                              VectorNd Rd,
                              VectorNd bd,
                              VectorNi stateD,
                              VectorNd flim,
                              int flags)

resolveMG

public void resolveMG(VectorNd vel,
                      VectorNd lam,
                      VectorNd bm,
                      VectorNd bg)

isAMatrixFactored
```
public boolean isAMatrixFactored()
```

getW
```
public VectorNd getW()
```
Returns the w vector associated with the most recent solve. If the solve had no unilateral constraints, this vector will have length 0.

Returns:

w vector (may be modified)

dispose
```
public void dispose()
```

finalize
```
public void finalize()
```
Overrides:

finalize in class java.lang.Object

getAvgSolveTime
```
public double getAvgSolveTime()
```

getTotalSolveCount
```
public int getTotalSolveCount()
```

getAvgAnalyzeTime
```
public double getAvgAnalyzeTime()
```

getTotalAnalyzeCount
```
public int getTotalAnalyzeCount()
```

getAvgFactorTime
```
public double getAvgFactorTime()
```

getTotalFactorCount
```
public int getTotalFactorCount()
```

resetTimers
```
public void resetTimers()
```

getStateA
```
public VectorNi getStateA()
```

getAConsString

public java.lang.String getAConsString()

initialize
```
public void initialize()
```

Class MurtyMechSolver

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

debug

showAStructureChange

showRebuildReason

CONTACT_SOLVE

NT_INACTIVE

REBUILD_A

SHOW_NONE

SHOW_PIVOTS

SHOW_TOL_UPDATE

SHOW_BLOCK_PIVOT_CHANGE

SHOW_VARIABLES

SHOW_RETURNS

SHOW_ALL

Constructor Detail

MurtyMechSolver

Method Detail

getDebug

setDebug

getSilent

setSilent

getAdaptivelyRebuildA

setAdaptivelyRebuildA

getDefaultAdaptivelyRebuildA

setDefaultAdaptivelyRebuildA

getUpdateABetweenSolves

setUpdateABetweenSolves

getRebuildARatio

setRebuildARatio

setSolverType

setSolver

getTolerance

setTolerance

getBlockPivoting

setBlockPivoting

getLastBlockPivoting

getLastSolveTol

getLastVersionM

numFailedPivots

getIterationLimit

setIterationLimit

getIterationCount

getPivotCount

getBlockPivotFailCount

getSolveCount

getHybridSolves

getHybridSolveCount

setHybridSolves

getNTFrictionActivity

setNTFrictionActivity

isBLCPSupported

getA

writeA

contactSolve

contactSolve

solve

solve

solve

solve

resolveMG

isAMatrixFactored

getW

dispose

finalize

getAvgSolveTime

getTotalSolveCount

getAvgAnalyzeTime

getTotalAnalyzeCount

getAvgFactorTime

getTotalFactorCount

resetTimers

getStateA

getAConsString

initialize