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Given a known linear function f(x), where x is a vector, find x such that

This type of problem arises with resting contact forces; the resting contact force is complementary to the relative acceleration of the bodies along the contact normal vector. Solving LCP's is non-trivial. This can be seen as a special type of inequality-constrained optimization, where we find x such that f(x) is optimized subject to the inequality constraint f >= 0, with the additional restrictions that x >=0 and x^T f = 0. --MrLin

- x >= 0
- f(x) >= 0
- x^T f(x) = 0

- x >= 0
- f(x) = M x + q >= 0
- x^T f(x) = 0

- hopefully helpful alternate wording:

This type of problem arises with resting contact forces; the resting contact force is complementary to the relative acceleration of the bodies along the contact normal vector. Solving LCP's is non-trivial. This can be seen as a special type of inequality-constrained optimization, where we find x such that f(x) is optimized subject to the inequality constraint f >= 0, with the additional restrictions that x >=0 and x^T f = 0. --MrLin

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Topic revision: r1 - 24 Oct 2004, ExecutionStyle;

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