Propagates the Mlcp result to the representations. More...
#include <PushResults.h>
Public Member Functions | |
| PushResults (bool doCopyState=false) | |
| Constructor. More... | |
| SURGSIM_CLASSNAME (SurgSim::Physics::PushResults) | |
| virtual | ~PushResults () |
| Destructor. | |
| void | setDiscardBadResults (bool filter) |
| Enable/disable discarding all MLCP results if any contact constraint has a violation greater than the tolerance. More... | |
| bool | isDiscardBadResults () const |
| void | setContactTolerance (double tolerance) |
| double | getContactTolerance () const |
 Public Member Functions inherited from SurgSim::Physics::Computation | |
| Computation (bool doCopyState) | |
| Constructor. More... | |
| virtual | ~Computation () |
| Destructor. | |
| std::shared_ptr< PhysicsManagerState > | update (double dt, const std::shared_ptr< PhysicsManagerState > &state) |
| Public Interface execute this objects computations, dt is the time from the last update call in seconds. More... | |
| void | setDoCopyState (bool val) |
| Sets up whether the computation will copy the state of PhysicsManagerState before executing. More... | |
| bool | isCopyingState () |
| Query if this object is copying the PhysicsManagerState. More... | |
| virtual std::string | getClassName () const =0 |
| The class name for this class. More... | |
| Framework::Timer & | getTimer () |
| Provides access to the update timer. More... | |
Protected Member Functions | |
| std::shared_ptr< PhysicsManagerState > | doUpdate (const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override |
| Override this function to implement the computations specific behavior. | |
Protected Attributes | |
| std::shared_ptr< SurgSim::Framework::Logger > | m_logger |
Detailed Description
Propagates the Mlcp result to the representations.
Can optionally discard (not push) MLCP results that do not meet the contact tolerance. The MlcpGaussSeidelSolver has a contact tolerance that can be set through the SolveMlcp Computation, and which is used to determine if the solver should stop before reaching the maximum iterations. Often the SolveMlcp has a "tight" (small) tolerance to get the most accurate contacts possible, but then the MLCP tends to iterate the maximum number of times. Then, here a looser (larger) tolerance can be set such that if the MLCP is failing to meet that tolerance (i.e., the solve failed), the results are discarded. Discarding the MLCP results will mean the constraints will not be satisfied and may drive the simulation further away from successful MLCP results.
Constructor & Destructor Documentation
§ PushResults()
|
explicit |
Constructor.
- Parameters
-
doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state
Member Function Documentation
§ getContactTolerance()
| double SurgSim::Physics::PushResults::getContactTolerance | ( | ) | const |
- Returns
- The contact tolerance.
- See also
- MlcpGaussSeidelSolver::getContactTolerance
§ isDiscardBadResults()
| bool SurgSim::Physics::PushResults::isDiscardBadResults | ( | ) | const |
- Returns
- true if discarding MLCP results that have a contact violation greater than the tolerance.
§ setContactTolerance()
| void SurgSim::Physics::PushResults::setContactTolerance | ( | double | tolerance | ) |
- Parameters
-
tolerance The contact tolerance limit, only matters if discarding bad MLCP results.
§ setDiscardBadResults()
| void SurgSim::Physics::PushResults::setDiscardBadResults | ( | bool | filter | ) |
Enable/disable discarding all MLCP results if any contact constraint has a violation greater than the tolerance.
- Parameters
-
filter true to enable filtering.
The documentation for this class was generated from the following files:
- SurgSim/Physics/PushResults.h
- SurgSim/Physics/PushResults.cpp
