Addition of an option to choose the solution of the reduced symmetric system with Qp2 or QpH inside the matrix.
SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_METHOD
@@ -545,7 +545,9 @@ enum SICONOS_FRICTION_3D_IPM_IPARAM_ENUM
/** index in iparam to update the vector w for solving nonconvex problem */
SICONOS_FRICTION_3D_IPM_IPARAM_UPDATE_S = 17,
/** index in iparam to use Qp or F formula for computing Nesterov-Todd scaling **/
- SICONOS_FRICTION_3D_IPM_IPARAM_NESTEROV_TODD_SCALING_METHOD = 18
+ SICONOS_FRICTION_3D_IPM_IPARAM_NESTEROV_TODD_SCALING_METHOD = 18,
+ /** index in iparam to use a reduced symmetric system with Qp2 or QpH inside the matrix **/
+ SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_METHOD = 19
};
enum SICONOS_FRICTION_3D_IPM_DPARAM_ENUM
@@ -578,4 +580,10 @@ enum SICONOS_FRICTION_3D_IPM_NESTEROV_TODD_SCALING_METHOD_ENUM
SICONOS_FRICTION_3D_IPM_NESTEROV_TODD_SCALING_WITH_F = 1
};
+enum SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_METHOD_ENUM
+ {
+ SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_WITH_QP2 = 0,
+ SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_WITH_QPH = 1
+ };
+
#endif
