ContactSolverBaseTpl< _Scalar > Struct Template Reference

Inheritance diagram for ContactSolverBaseTpl< _Scalar >:

Public Types
typedef hpp::fcl::CPUTimes	CPUTimes
typedef _Scalar	Scalar
typedef hpp::fcl::Timer	Timer

Public Member Functions
	ContactSolverBaseTpl (const int problem_size)
Scalar	getAbsoluteConvergenceResidual () const
	Returns the value of the absolute residual value corresponding to the contact complementary conditions.
Scalar	getAbsolutePrecision () const
	Get the absolute precision requested.
CPUTimes	getCPUTimes () const
int	getIterationCount () const
	Get the number of iterations achieved by the solver.
int	getMaxIterations () const
	Get the maximum number of iterations allowed.
int	getProblemSize () const
	Returns the size of the problem.
Scalar	getRelativeConvergenceResidual () const
	Returns the value of the relative residual value corresponding to the difference between two successive iterates (infinity norms).
Scalar	getRelativePrecision () const
	Get the relative precision requested.
void	setAbsolutePrecision (const Scalar absolute_precision)
	Set the absolute precision for the problem.
void	setMaxIterations (const int max_it)
	Set the maximum number of iterations.
void	setRelativePrecision (const Scalar relative_precision)
	Set the relative precision for the problem.

Protected Attributes
Scalar	absolute_precision
	Desired absolute precision.
Scalar	absolute_residual
	Absolule convergence residual value.
int	it
	Number of iterations needed to achieve convergence.
int	max_it
int	problem_size
	Size of the problem.
Scalar	relative_precision
	Desired relative precision.
Scalar	relative_residual
	Relative convergence residual value.
Timer	timer

Detailed Description

template<typename _Scalar>
struct pinocchio::ContactSolverBaseTpl< _Scalar >

Definition at line 19 of file contact-solver-base.hpp.

Member Typedef Documentation

CPUTimes

template<typename _Scalar >

typedef hpp::fcl::CPUTimes CPUTimes

Definition at line 24 of file contact-solver-base.hpp.

Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 21 of file contact-solver-base.hpp.

Timer

template<typename _Scalar >

typedef hpp::fcl::Timer Timer

Definition at line 25 of file contact-solver-base.hpp.

Constructor & Destructor Documentation

ContactSolverBaseTpl()

template<typename _Scalar >

ContactSolverBaseTpl ( const int  problem_size )

inlineexplicit

Definition at line 28 of file contact-solver-base.hpp.

Member Function Documentation

getAbsoluteConvergenceResidual()

template<typename _Scalar >

Scalar getAbsoluteConvergenceResidual ( ) const

inline

Returns the value of the absolute residual value corresponding to the contact complementary conditions.

Definition at line 94 of file contact-solver-base.hpp.

getAbsolutePrecision()

template<typename _Scalar >

Scalar getAbsolutePrecision ( ) const

inline

Get the absolute precision requested.

Definition at line 74 of file contact-solver-base.hpp.

getCPUTimes()

template<typename _Scalar >

CPUTimes getCPUTimes ( ) const

inline

Definition at line 106 of file contact-solver-base.hpp.

getIterationCount()

template<typename _Scalar >

int getIterationCount ( ) const

inline

Get the number of iterations achieved by the solver.

Definition at line 49 of file contact-solver-base.hpp.

getMaxIterations()

template<typename _Scalar >

int getMaxIterations ( ) const

inline

Get the maximum number of iterations allowed.

Definition at line 61 of file contact-solver-base.hpp.

getProblemSize()

template<typename _Scalar >

int getProblemSize ( ) const

inline

Returns the size of the problem.

Definition at line 43 of file contact-solver-base.hpp.

getRelativeConvergenceResidual()

template<typename _Scalar >

Scalar getRelativeConvergenceResidual ( ) const

inline

Returns the value of the relative residual value corresponding to the difference between two successive iterates (infinity norms).

Definition at line 100 of file contact-solver-base.hpp.

getRelativePrecision()

template<typename _Scalar >

Scalar getRelativePrecision ( ) const

inline

Get the relative precision requested.

Definition at line 87 of file contact-solver-base.hpp.

setAbsolutePrecision()

template<typename _Scalar >

void setAbsolutePrecision ( const Scalar  absolute_precision )

inline

Set the absolute precision for the problem.

Definition at line 67 of file contact-solver-base.hpp.

setMaxIterations()

template<typename _Scalar >

void setMaxIterations ( const int  max_it )

inline

Set the maximum number of iterations.

Definition at line 55 of file contact-solver-base.hpp.

setRelativePrecision()

template<typename _Scalar >

void setRelativePrecision ( const Scalar  relative_precision )

inline

Set the relative precision for the problem.

Definition at line 80 of file contact-solver-base.hpp.

Member Data Documentation

absolute_precision

template<typename _Scalar >

Scalar absolute_precision

protected

Desired absolute precision.

Definition at line 120 of file contact-solver-base.hpp.

absolute_residual

template<typename _Scalar >

Scalar absolute_residual

protected

Absolule convergence residual value.

Definition at line 124 of file contact-solver-base.hpp.

it

template<typename _Scalar >

int it

protected

Number of iterations needed to achieve convergence.

Definition at line 118 of file contact-solver-base.hpp.

max_it

template<typename _Scalar >

int max_it

protected

 

Maximum number of iterations.

Definition at line 116 of file contact-solver-base.hpp.

problem_size

template<typename _Scalar >

int problem_size

protected

Size of the problem.

Definition at line 114 of file contact-solver-base.hpp.

relative_precision

template<typename _Scalar >

Scalar relative_precision

protected

Desired relative precision.

Definition at line 122 of file contact-solver-base.hpp.

relative_residual

template<typename _Scalar >

Scalar relative_residual

protected

Relative convergence residual value.

Definition at line 126 of file contact-solver-base.hpp.

timer

template<typename _Scalar >

Timer timer

protected

Definition at line 129 of file contact-solver-base.hpp.

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

• include/pinocchio/algorithm/contact-solver-base.hpp