MlcpSolution.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_MATH_MLCPSOLUTION_H
#define SURGSIM_MATH_MLCPSOLUTION_H

#include <Eigen/Core>
#include "SurgSim/Math/MlcpConstraintType.h"

namespace SurgSim
{
namespace Math
{

struct MlcpSolution
{
    typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;

    MlcpSolution() :
        numIterations(0),
        maxIterations(0),
        epsilonConvergence(std::numeric_limits<double>::max()),
        contactTolerance(std::numeric_limits<double>::max()),
        validConvergence(false),
        validSignorini(false),
        convergenceCriteria(std::numeric_limits<double>::max()),
        initialConvergenceCriteria(std::numeric_limits<double>::max())
    {
        for (size_t i = 0; i < MLCP_NUM_CONSTRAINT_TYPES; ++i)
        {
            constraintConvergenceCriteria[i] = std::numeric_limits<double>::max();
            initialConstraintConvergenceCriteria[i] = std::numeric_limits<double>::max();
        }
    }

    Vector x;

    size_t numIterations;
    size_t maxIterations;
    double epsilonConvergence;
    double contactTolerance;
    bool validConvergence;
    bool validSignorini;
    double convergenceCriteria;
    double initialConvergenceCriteria;
    double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES] = {};
    double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES] = {};

    // NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment,
    // because we currently sometimes need to copy the solution (although we ought to minimize this).
    // The C++11-ish way to indicate that explicitly would be to write code like this:
    //     MlcpProblem() = default;
    //     MlcpProblem(const MlcpProblem& other) = default;
    //     MlcpProblem& operator= (const MlcpProblem& other) = default;
    // but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment.
    // We may also want to add move construction and move assignment.  --advornik 2013-06-24
};

};  // namespace Math
};  // namespace SurgSim

#endif // SURGSIM_MATH_MLCPSOLUTION_H