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The description of a solution to a physical MLCP problem. More...
#include <SurgSim/Physics/MlcpPhysicsSolution.h>
Public Attributes | |
Vector | dofCorrection |
Corrections to all of the degrees of freedom needed to satisfy the system equations. More... | |
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Vector | x |
Vector \(x\) specifying a solution to the specified mixed LCP problem. More... | |
int | numIterations |
The number of iterations performed. More... | |
bool | validConvergence |
True if the final value of the convergence criteria is valid. More... | |
bool | validSignorini |
True if the final solution satisfies the Signorini conditions. More... | |
double | convergenceCriteria |
The final value of the convergence criteria. More... | |
double | initialConvergenceCriteria |
The initial value of the convergence criteria, before the solver has done anything. More... | |
double | constraintConvergenceCriteria [MLCP_NUM_CONSTRAINT_TYPES] |
The final value of the convergence criteria for each of the constraint types. More... | |
double | initialConstraintConvergenceCriteria [MLCP_NUM_CONSTRAINT_TYPES] |
The initial value of the convergence criteria for each of the constraint types. More... | |
Additional Inherited Members | |
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typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | Vector |
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.
Vector SurgSim::Physics::MlcpPhysicsSolution::dofCorrection |
Corrections to all of the degrees of freedom needed to satisfy the system equations.