SurgSim::Physics::SolveMlcp Class Reference

Solve the system Mixed Linear Complementarity Problem (Mlcp) More...

#include <SolveMlcp.h>

Inheritance diagram for SurgSim::Physics::SolveMlcp:

Public Member Functions
	SolveMlcp (bool doCopyState=false)
	Constructor. More...
	SURGSIM_CLASSNAME (SurgSim::Physics::SolveMlcp)
virtual	~SolveMlcp ()
	Destructor.
void	setMaxIterations (size_t maxIterations)
	Set the maximum number of iterations for the MLCP solver. More...
size_t	getMaxIterations () const
	Get the maximum number of iterations for the MLCP solver. More...
void	setPrecision (double epsilon)
	Set the precision of the MLCP solver. More...
double	getPrecision () const
	Get the precision of the MLCP solver. More...
void	setContactTolerance (double epsilon)
	Set the contact tolerance for the MLCP solver. More...
double	getContactTolerance () const
	Get the contact tolerance for the MLCP solver. More...
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 doUpdate from superclass. More...

Detailed Description

Solve the system Mixed Linear Complementarity Problem (Mlcp)

Constructor & Destructor Documentation

SolveMlcp()

SurgSim::Physics::SolveMlcp::SolveMlcp ( bool  doCopyState = false )

explicit

Constructor.

Parameters

doCopyState

Specify if the ouput state is a copy or not of the input state in Computation::Update()

Member Function Documentation

doUpdate()

std::shared_ptr< PhysicsManagerState > SurgSim::Physics::SolveMlcp::doUpdate ( const double &  dt, const std::shared_ptr< PhysicsManagerState > &  state  )

overrideprotectedvirtual

Override doUpdate from superclass.

Parameters

dt	The time step
state	The Physics manager state

Returns

The updated physics manager state (input updated or copied updated)

Implements SurgSim::Physics::Computation.

getContactTolerance()

double SurgSim::Physics::SolveMlcp::getContactTolerance

(

)

const

Get the contact tolerance for the MLCP solver.

Returns

The contact tolerance.

getMaxIterations()

size_t SurgSim::Physics::SolveMlcp::getMaxIterations

(

)

const

Get the maximum number of iterations for the MLCP solver.

Returns

The maximum number of iterations.

getPrecision()

double SurgSim::Physics::SolveMlcp::getPrecision

(

)

const

Get the precision of the MLCP solver.

Returns

The precision.

setContactTolerance()

void SurgSim::Physics::SolveMlcp::setContactTolerance

(

double

epsilon

)

Set the contact tolerance for the MLCP solver.

Parameters

epsilon

The contact tolerance.

setMaxIterations()

void SurgSim::Physics::SolveMlcp::setMaxIterations

(

size_t

maxIterations

)

Set the maximum number of iterations for the MLCP solver.

Parameters

maxIterations

The maximum number of iterations.

setPrecision()

void SurgSim::Physics::SolveMlcp::setPrecision

(

double

epsilon

)

Set the precision of the MLCP solver.

Parameters

epsilon

The precision.

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

• SurgSim/Physics/SolveMlcp.h
• SurgSim/Physics/SolveMlcp.cpp