SurgSim::Math::MlcpSolution Struct Reference

The description of a solution to a mixed linear complementarity problem. More...

#include <MlcpSolution.h>

Inheritance diagram for SurgSim::Math::MlcpSolution:

Public Types
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	Vector

Public Attributes
Vector	x
	Vector \(x\) specifying a solution to the specified mixed LCP problem.
size_t	numIterations
	The number of iterations performed.
size_t	maxIterations
	The max iterations allowed for a solve.
double	epsilonConvergence
	The precision, aka epsilon convergence.
double	contactTolerance
	The contact tolerance.
bool	validConvergence
	True if the final value of the convergence criteria is valid.
bool	validSignorini
	True if the final solution satisfies the Signorini conditions.
double	convergenceCriteria
	The final value of the convergence criteria.
double	initialConvergenceCriteria
	The initial value of the convergence criteria, before the solver has done anything.
double	constraintConvergenceCriteria [MLCP_NUM_CONSTRAINT_TYPES] = {}
	The final value of the convergence criteria for each of the constraint types.
double	initialConstraintConvergenceCriteria [MLCP_NUM_CONSTRAINT_TYPES] = {}
	The initial value of the convergence criteria for each of the constraint types.

Detailed Description

The description of a solution to a mixed linear complementarity problem.

The solution consists of the vector \(x\) and various diagnostic parameters. If \(c = \mathbf{A}x + b\) is also needed, it can be computed by the caller.

See also

SurgSim::Physics::MlcpPhysicsSolution, MlcpProblem, MlcpSolver

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The documentation for this struct was generated from the following file:

• SurgSim/Math/MlcpSolution.h