pinocchio  3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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
   More...
 
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 Data Documentation

◆ max_it

int max_it
protected

 

Maximum number of iterations.

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


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