maspack.solvers

Class LCPSolverTestBase

java.lang.Object

maspack.util.UnitTest

maspack.solvers.LCPSolverTestBase

Direct Known Subclasses:

DantzigLCPSolverTest, KellerLCPSolverTest, MurtyLCPSolverTest

public abstract class LCPSolverTestBase
extends UnitTest

Base class for LCP solver tests

Method Summary

Modifier and Type	Method and Description
static void	checkBLCPSolution(VectorNd z, VectorNd w, MatrixNd M, VectorNd q, VectorNd lo, VectorNd hi, int nub, VectorNi state, double tol)
static void	checkBLCPSolution(VectorNd z, VectorNd w, VectorNd lo, VectorNd hi, int nub, VectorNi state, double tol)
static void	checkLCPSolution(VectorNd z, MatrixNd M, VectorNd q, VectorNi state, double solverTol)
static void	checkLCPSolutionX(VectorNd z, MatrixNd M, VectorNd q, int nub, VectorNi state, double tol)
void	clearPivotCount()
abstract LCPSolver	getSolver()
void	pegInHoleContactTests(int nz, int nr, int ntests, boolean regularize)
void	printAndClearPivotCount(java.lang.String msg, int ntests)
void	printPivotCount(java.lang.String msg, int ntests)
void	randomBLCPTests(int ntests, int msize, boolean semiDefinite)
void	randomTests(int ntests, int msize, boolean semiDefinite)
void	randomTiming(int ntests, int msize)
void	simpleContactTests(boolean regularize)
void	testPegInHoleContact(int nz, int nr, Vector3d force, double mu, boolean regularize) Create a test case involving peg-in-hole contact with many contact points and friction.
void	testPegInHoleContactOld(Vector3d force, double mu, boolean regularize)
void	testPlanarContact(double ang, boolean regularize) Create a test case involving multi-point contact of a box on a plane.
void	testPlanarFrictionContact(double ang, double mu, boolean regularize) Create a test case involving multi-point contact of a box on a plane with friction.
void	testSinglePointFrictionContact(double ang, double mu) Create a test case involving a single point contact on a plane with friction.
void	testSolver(VectorNd z, VectorNd w, VectorNi state, MatrixNd M, VectorNd q, VectorNd lo, VectorNd hi, int nub, int size, LCPSolver.Status expectedStatus)
void	testSolver(VectorNd z, VectorNi state, MatrixNd M, VectorNd q, LCPSolver.Status expectedStatus)
void	testSpecial(double[] Mvals, double[] qvals)
void	testSpecial(double[] Mvals, double[] qvals, double[] loVals, double[] hiVals, int nub)

Methods inherited from class maspack.util.UnitTest

check, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkNormedEquals, checkNormedEquals, getSilent, printUsageAndExit, runtest, setSilent, test

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getSolver

public abstract LCPSolver getSolver()

clearPivotCount

public void clearPivotCount()

printPivotCount

public void printPivotCount(java.lang.String msg,
                            int ntests)

printAndClearPivotCount

public void printAndClearPivotCount(java.lang.String msg,
                                    int ntests)

testSpecial

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

testSpecial

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

testSolver

public void testSolver(VectorNd z,
                       VectorNi state,
                       MatrixNd M,
                       VectorNd q,
                       LCPSolver.Status expectedStatus)

testSolver

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

testPlanarContact

public void testPlanarContact(double ang,
                              boolean regularize)

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.

Parameters:

ang - angle that the applied force makes with the plane

regularize - if true, regularize the constraints

testSinglePointFrictionContact

public void testSinglePointFrictionContact(double ang,
                                           double mu)

Create a test case involving a single point contact on a plane with friction. The angle of the plane surface relative to the horizontal is ang, and the friction coefficient is mu.

testPlanarFrictionContact

public void testPlanarFrictionContact(double ang,
                                      double mu,
                                      boolean regularize)

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

Parameters:

ang - angle that the applied force makes with the plane

mu - friction coefficient

regularize - if true, regularize the constraints

testPegInHoleContact

public void testPegInHoleContact(int nz,
                                 int nr,
                                 Vector3d force,
                                 double mu,
                                 boolean regularize)

Create a test case involving peg-in-hole contact with many contact points and friction.

Parameters:

nz - number of rings of contact points along z

nr - number of contact points about each ring

force - to apply to the center of the peg

mu - friction coefficient

regularize - if true, regularize the constraints

testPegInHoleContactOld

public void testPegInHoleContactOld(Vector3d force,
                                    double mu,
                                    boolean regularize)

checkBLCPSolution

public static void checkBLCPSolution(VectorNd z,
                                     VectorNd w,
                                     MatrixNd M,
                                     VectorNd q,
                                     VectorNd lo,
                                     VectorNd hi,
                                     int nub,
                                     VectorNi state,
                                     double tol)

checkBLCPSolution

public static void checkBLCPSolution(VectorNd z,
                                     VectorNd w,
                                     VectorNd lo,
                                     VectorNd hi,
                                     int nub,
                                     VectorNi state,
                                     double tol)

checkLCPSolution

public static void checkLCPSolution(VectorNd z,
                                    MatrixNd M,
                                    VectorNd q,
                                    VectorNi state,
                                    double solverTol)

checkLCPSolutionX

public static void checkLCPSolutionX(VectorNd z,
                                     MatrixNd M,
                                     VectorNd q,
                                     int nub,
                                     VectorNi state,
                                     double tol)

randomBLCPTests

public void randomBLCPTests(int ntests,
                            int msize,
                            boolean semiDefinite)

randomTests

public void randomTests(int ntests,
                        int msize,
                        boolean semiDefinite)

simpleContactTests

public void simpleContactTests(boolean regularize)

pegInHoleContactTests

public void pegInHoleContactTests(int nz,
                                  int nr,
                                  int ntests,
                                  boolean regularize)

randomTiming

public void randomTiming(int ntests,
                         int msize)