base/LCP.cpp

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: Matrix4.cpp,v 1.6 2001/05/22 19:24:19 jungd Exp $
  $Revision: 1.6 $
  $Date: 2001/05/22 19:24:19 $
  $Author: jungd $
 
****************************************************************************/

#include <base/LCP>

#include <vector>

using base::Matrix;
using base::Vector;

using std::ostream;


namespace {

  typedef std::vector<bool> IndexSet;

  
  Real AiSxqS(const Matrix& A, Int i, 
              const IndexSet& S, const Vector& q)
  {
    Real sum=0;
    for(Int k=1; k<=q.dimension(); k++)
      if (S[k]) sum += A(i,k)*q[k];
    return sum;
  }

  
  void transferiToN(Int i)
  {
    #ifdef DEBUG

    #endif
  }


}


void base::LCPSolve(const Matrix& A, Vector& x, 
                    const Vector& b, Vector& w)
{
  Int n=b.dimension();

  Matrix L(A.rows(), A.columns());
  Vector d(n);
  Vector delta_x(n), delta_w(n);
  Vector Dell(n), ell(n), tmp(n);
  IndexSet p(n),C(n);
  Int i;//,k;

  x = Vector(n);
  w = Vector(n);

  for(i=1; i<=n; i++) {
    w[i] = AiSxqS(A,i,C,x) - b[i];
    if (w[i] >= 0)
      ;
    //...

  }

}



void base::LCPSolve(const Matrix& A, Vector& x, 
                    const Vector& b, Vector& w,
                    Int numUnbounded,
                    const Vector& lo, const Vector& hi)
{
}

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