pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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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

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.


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