void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer) { // the `Dell' and `ell' that are computed here are saved. if index i is // later added to the factorization then they can be reused. // // @@@ question: do we need to solve for entire delta_x??? yes, but // only if an x goes below 0 during the step. int j; if (nC > 0) { dReal *aptr = AROW(i); # ifdef NUB_OPTIMIZATIONS // if nub>0, initial part of aptr[] is guaranteed unpermuted for (j=0; j<nub; j++) Dell[j] = aptr[j]; for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]]; # else for (j=0; j<nC; j++) Dell[j] = aptr[C[j]]; # endif dSolveL1 (L,Dell,nC,nskip); for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j]; if (!only_transfer) { for (j=0; j<nC; j++) tmp[j] = ell[j]; dSolveL1T (L,tmp,nC,nskip); if (dir > 0) { for (j=0; j<nC; j++) a[C[j]] = -tmp[j]; } else { for (j=0; j<nC; j++) a[C[j]] = tmp[j]; } } } }
void _dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip) { dAASSERT (L && d && b && n > 0 && nskip >= n); dSolveL1 (L,b,n,nskip); dVectorScale (b,d,n); dSolveL1T (L,b,n,nskip); }
void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer) { // the `Dell' and `ell' that are computed here are saved. if index i is // later added to the factorization then they can be reused. // // @@@ question: do we need to solve for entire delta_x??? yes, but // only if an x goes below 0 during the step. if (m_nC > 0) { { dReal *Dell = m_Dell; int *C = m_C; dReal *aptr = AROW(i); # ifdef NUB_OPTIMIZATIONS // if nub>0, initial part of aptr[] is guaranteed unpermuted const int nub = m_nub; int j=0; for ( ; j<nub; ++j) Dell[j] = aptr[j]; const int nC = m_nC; for ( ; j<nC; ++j) Dell[j] = aptr[C[j]]; # else const int nC = m_nC; for (int j=0; j<nC; ++j) Dell[j] = aptr[C[j]]; # endif } dSolveL1 (m_L,m_Dell,m_nC,m_nskip); { dReal *ell = m_ell, *Dell = m_Dell, *d = m_d; const int nC = m_nC; for (int j=0; j<nC; ++j) ell[j] = Dell[j] * d[j]; } if (!only_transfer) { dReal *tmp = m_tmp, *ell = m_ell; { const int nC = m_nC; for (int j=0; j<nC; ++j) tmp[j] = ell[j]; } dSolveL1T (m_L,tmp,m_nC,m_nskip); if (dir > 0) { int *C = m_C; dReal *tmp = m_tmp; const int nC = m_nC; for (int j=0; j<nC; ++j) a[C[j]] = -tmp[j]; } else { int *C = m_C; dReal *tmp = m_tmp; const int nC = m_nC; for (int j=0; j<nC; ++j) a[C[j]] = tmp[j]; } } } }