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The description of a solution to a mixed linear complementarity problem. More...
#include <SurgSim/Math/MlcpSolution.h>
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. 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... | |
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.
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> SurgSim::Math::MlcpSolution::Vector |
double SurgSim::Math::MlcpSolution::constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES] |
The final value of the convergence criteria for each of the constraint types.
double SurgSim::Math::MlcpSolution::convergenceCriteria |
The final value of the convergence criteria.
double SurgSim::Math::MlcpSolution::initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES] |
The initial value of the convergence criteria for each of the constraint types.
double SurgSim::Math::MlcpSolution::initialConvergenceCriteria |
The initial value of the convergence criteria, before the solver has done anything.
int SurgSim::Math::MlcpSolution::numIterations |
The number of iterations performed.
bool SurgSim::Math::MlcpSolution::validConvergence |
True if the final value of the convergence criteria is valid.
bool SurgSim::Math::MlcpSolution::validSignorini |
True if the final solution satisfies the Signorini conditions.
Vector SurgSim::Math::MlcpSolution::x |
Vector \(x\) specifying a solution to the specified mixed LCP problem.