SurgSim::Math::MlcpGaussSeidelSolver Class Reference

A solver for mixed LCP problems using the Gauss-Seidel iterative method. More...

#include <MlcpGaussSeidelSolver.h>

Inheritance diagram for SurgSim::Math::MlcpGaussSeidelSolver:

Public Member Functions
	MlcpGaussSeidelSolver ()
	Constructor.
	MlcpGaussSeidelSolver (double epsilonConvergence, double contactTolerance, size_t maxIterations)
	Constructor. More...
virtual	~MlcpGaussSeidelSolver ()
	Destructor.
bool	solve (const MlcpProblem &problem, MlcpSolution *solution)
	Resolution of a given MLCP (Gauss Seidel iterative solver) More...
double	getEpsilonConvergence () const
void	setEpsilonConvergence (double precision)
	Set the precision. More...
double	getContactTolerance () const
void	setContactTolerance (double tolerance)
	Set the contact tolerance. More...
size_t	getMaxIterations () const
void	setMaxIterations (size_t maxIterations)
	Set the max number of iterations. More...
Public Member Functions inherited from SurgSim::Math::MlcpSolver
	MlcpSolver ()
	Constructor.

Detailed Description

A solver for mixed LCP problems using the Gauss-Seidel iterative method.

The problem can contain:

• CONSTRAINT = Bilateral constraint (all atomic, a fixed 3D point=3 atomics independents constraints)
• CONTACT = Unilateral constraint
  • frictionless => 1 atomic constraint per contact
  • frictional with Coulomb friction (1 mu parameter per contact) => 3 atomic dependent constraints per contact (1 directional + 2 tangentials)
• SUTURING = Sliding constraint for suturing
  • Frictionless suturing constraint => 2 atomic constraints per sliding point
  • Frictional suturing constraint => 3 atomic constraints per sliding point (2 directional + 1 tangential with friction on it) => 1 mu parameter per frictional suturing

See e.g.: Duriez, Christian; Dubois, F.; Kheddar, A.; Andriot, C., "Realistic haptic rendering of interacting deformable objects in virtual environments," IEEE Transactions on Visualization and Computer Graphics, vol.12, no.1, pp.36,47, Jan.-Feb. 2006.

Constructor & Destructor Documentation

MlcpGaussSeidelSolver()

SurgSim::Math::MlcpGaussSeidelSolver::MlcpGaussSeidelSolver	(	double	epsilonConvergence,
		double	contactTolerance,
		size_t	maxIterations
	)

Constructor.

Parameters

epsilonConvergence	The precision.
contactTolerance	The contact tolerance.
maxIterations	The max iterations.

Member Function Documentation

getContactTolerance()

double SurgSim::Math::MlcpGaussSeidelSolver::getContactTolerance

(

)

const

Returns

The contact tolerance.

getEpsilonConvergence()

double SurgSim::Math::MlcpGaussSeidelSolver::getEpsilonConvergence

(

)

const

Returns

The precision.

getMaxIterations()

size_t SurgSim::Math::MlcpGaussSeidelSolver::getMaxIterations

(

)

const

Returns

The max number of iterations.

setContactTolerance()

void SurgSim::Math::MlcpGaussSeidelSolver::setContactTolerance

(

double

tolerance

)

Set the contact tolerance.

Parameters

tolerance

The contact tolerance.

setEpsilonConvergence()

void SurgSim::Math::MlcpGaussSeidelSolver::setEpsilonConvergence

(

double

precision

)

Set the precision.

Parameters

precision

The precision.

setMaxIterations()

void SurgSim::Math::MlcpGaussSeidelSolver::setMaxIterations

(

size_t

maxIterations

)

Set the max number of iterations.

Parameters

maxIterations

The max number of iterations.

solve()

bool SurgSim::Math::MlcpGaussSeidelSolver::solve ( const MlcpProblem &  problem, MlcpSolution *  solution  )

virtual

Resolution of a given MLCP (Gauss Seidel iterative solver)

Parameters

	problem	The mlcp problem
[out]	solution	The mlcp solution

Returns

true if successfully converged.

Implements SurgSim::Math::MlcpSolver.

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The documentation for this class was generated from the following files:

• SurgSim/Math/MlcpGaussSeidelSolver.h
• SurgSim/Math/MlcpGaussSeidelSolver.cpp