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// Copyright Matt Overby 2020.
// Distributed under the MIT License.
#ifndef ADMMPD_LINSOLVE_H_
#define ADMMPD_LINSOLVE_H_
#include "admmpd_types.h"
#include "admmpd_collision.h"
namespace admmpd {
// Preconditioned Conjugate Gradients
class ConjugateGradients {
public:
void solve(
const Options *options,
SolverData *data,
Collision *collision);
protected:
// Apply preconditioner
void solve_Ax_b(
SolverData *data,
Eigen::VectorXd *x,
Eigen::VectorXd *b);
};
// Multi-Colored Gauss-Seidel
class GaussSeidel {
public:
void solve(
const Options *options,
SolverData *data,
Collision *collision);
protected:
void init_solve(
const Options *options,
SolverData *data,
Collision *collision);
void compute_colors(
const std::vector<std::set<int> > &vertex_energies_graph,
const std::vector<std::set<int> > &vertex_constraints_graph,
std::vector<std::vector<int> > &colors);
// For debugging:
void verify_colors(SolverData *data);
};
} // namespace admmpd
#endif // ADMMPD_LINSOLVE_H_
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