1 /* Siconos is a program dedicated to modeling, simulation and control
2 * of non smooth dynamical systems.
3 *
4 * Copyright 2021 INRIA.
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
17 */
18
19 #include "fc3d_GlockerFischerBurmeister_functions.h"
20 #include <stddef.h> // for NULL
21 #include "FischerBurmeister.h" // for jacobianPhi_FB, phi_FB
22 #include "fc3d_2NCP_Glocker.h" // for computeFGlocker, computeJacobianFGlocker
23
24 /* size of a block */
25 /* static int Fsize; */
26
27 /* static void F_GlockerFischerBurmeister(int sizeF, double* reaction, double* FVector, int up2Date); */
28 /* static void jacobianF_GlockerFischerBurmeister(int sizeF, double* reaction, double* jacobianFMatrix, int up2Date); */
29
30
31
32 /** writes \f$ F(z) \f$ using Glocker formulation and the Fischer-Burmeister function.
33 */
F_GlockerFischerBurmeister(int sizeF,double * reaction,double * FVector,int up2Date)34 void F_GlockerFischerBurmeister(int sizeF, double* reaction, double* FVector, int up2Date)
35 {
36 /* Glocker formulation */
37 double* FGlocker = NULL;
38 computeFGlocker(&FGlocker, up2Date);
39 /* Note that FGlocker is a static var. in fc3d2NCP_Glocker and thus there is no memory allocation in
40 the present file.
41 */
42
43 /* Call Fisher-Burmeister function => fill FVector */
44 phi_FB(sizeF, reaction, FGlocker, FVector);
45 FGlocker = NULL;
46 }
47
48 /** writes \f$ \nabla_z F(z) \f$ using Glocker formulation and the Fischer-Burmeister function.
49 */
jacobianF_GlockerFischerBurmeister(int sizeF,double * reaction,double * jacobianFMatrix,int up2Date)50 void jacobianF_GlockerFischerBurmeister(int sizeF, double* reaction, double* jacobianFMatrix, int up2Date)
51 {
52 /* Glocker formulation */
53 double* FGlocker = NULL, *jacobianFGlocker = NULL;
54 computeFGlocker(&FGlocker, up2Date);
55 computeJacobianFGlocker(&jacobianFGlocker, up2Date);
56 /* Note that FGlocker and jacobianFGlocker are static var. in fc3d2NCP_Glocker and thus there is no memory allocation in
57 the present file.
58 */
59
60 /* Call Fisher-Burmeister function => fill jacobianFMatrix */
61 jacobianPhi_FB(sizeF, reaction, FGlocker, jacobianFGlocker, jacobianFMatrix);
62 FGlocker = NULL;
63 jacobianFGlocker = NULL;
64 }
65