maspack.solvers

Class DantzigLCPSolverTest

java.lang.Object

maspack.solvers.DantzigLCPSolverTest

public class DantzigLCPSolverTest
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
DantzigLCPSolverTest()

Method Summary

Modifier and Type	Method and Description
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)