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

#include <SurgSim/Math/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. More...

size_t	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...

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

Member Typedef Documentation

◆ Vector

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> SurgSim::Math::MlcpSolution::Vector

Member Data Documentation

◆ constraintConvergenceCriteria

double SurgSim::Math::MlcpSolution::constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]

The final value of the convergence criteria for each of the constraint types.

◆ convergenceCriteria

double SurgSim::Math::MlcpSolution::convergenceCriteria

The final value of the convergence criteria.

◆ initialConstraintConvergenceCriteria

double SurgSim::Math::MlcpSolution::initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]

The initial value of the convergence criteria for each of the constraint types.

◆ initialConvergenceCriteria

double SurgSim::Math::MlcpSolution::initialConvergenceCriteria

The initial value of the convergence criteria, before the solver has done anything.

◆ numIterations

size_t SurgSim::Math::MlcpSolution::numIterations

The number of iterations performed.

◆ validConvergence

bool SurgSim::Math::MlcpSolution::validConvergence

True if the final value of the convergence criteria is valid.

◆ validSignorini

bool SurgSim::Math::MlcpSolution::validSignorini

True if the final solution satisfies the Signorini conditions.

◆ x

Vector SurgSim::Math::MlcpSolution::x

Vector \(x\) specifying a solution to the specified mixed LCP problem.

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

SurgSim/Math/MlcpSolution.h

Public Types

Public Attributes