Addition of a new option to select the way to solve the linear system.
3x3 no scaling
3x3 with scaling and Qp2 inside the matrix
3x3 with scaling and QpH inside the matrix
2x2 with scaling and Qp2 inside the matrix
2x2 with scaling and QpH inside the matrix
@@ -547,7 +547,9 @@ enum SICONOS_FRICTION_3D_IPM_IPARAM_ENUM
/** index in iparam to use Qp or F formula for computing Nesterov-Todd scaling **/
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
+ SICONOS_FRICTION_3D_IPM_IPARAM_REDUCED_SYSTEM_METHOD = 19,
+ /** index in iparam to choose the linear system formulation **/
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_FORM = 10
};
enum SICONOS_FRICTION_3D_IPM_DPARAM_ENUM
@@ -585,5 +587,13 @@ 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
};
+enum SICONOS_FRICTION_3D_IPM_IPARAM_LS_FORM_ENUM
+{
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_3X3_NOSCAL = 0,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_3X3_QP2 = 1,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_3X3_QPH = 2,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_QP2 = 3,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_QPH = 4
+};
#endif
