The description of a solution to a physical MLCP problem. More...

Inheritance diagram for SurgSim::Physics::MlcpPhysicsSolution:

Public Attributes
Vector	dofCorrection
	Corrections to all of the degrees of freedom needed to satisfy the system equations.

Public Attributes inherited from SurgSim::Math::MlcpSolution
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.

Additional Inherited Members
Public Types inherited from SurgSim::Math::MlcpSolution
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	Vector

Detailed Description

The description of a solution to a physical MLCP problem.

The solution consists of a mathematical solution for the MLCP and the vector dofCorrection containing the displacements (corrections) for each degree of freedom present in the system.

See also: SurgSim::Math::MlcpSolution, MlcpPhysicsProblem, SurgSim::Math::MlcpSolver

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

Public Attributes