PGSContactSolverTpl< _Scalar > Struct Template Reference

Projected Gauss Siedel solver. More...

#include <pinocchio/algorithm/pgs-solver.hpp>

Inheritance diagram for PGSContactSolverTpl< _Scalar >:

Collaboration diagram for PGSContactSolverTpl< _Scalar >:

Public Types
typedef ContactSolverBaseTpl< Scalar >	Base
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorXs
Public Types inherited from ContactSolverBaseTpl< _Scalar >
typedef hpp::fcl::CPUTimes	CPUTimes
typedef _Scalar	Scalar
typedef hpp::fcl::Timer	Timer

Public Member Functions
	PGSContactSolverTpl (const int problem_size)
template<typename MatrixLike , typename VectorLike , typename ConstraintAllocator , typename VectorLikeOut >
bool	solve (const MatrixLike &G, const Eigen::MatrixBase< VectorLike > &g, const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeOut > &x, const Scalar over_relax=Scalar(1))
	Solve the constrained conic problem composed of problem data (G,g,cones) and starting from the initial guess. More...
Public Member Functions inherited from ContactSolverBaseTpl< _Scalar >
	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
Timer	timer
VectorXs	x
	Previous temporary value of the optimum.
VectorXs	x_previous
Protected Attributes inherited from ContactSolverBaseTpl< _Scalar >
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::PGSContactSolverTpl< _Scalar >

Projected Gauss Siedel solver.

Definition at line 16 of file pgs-solver.hpp.

Member Function Documentation

solve()

bool solve	(	const MatrixLike &	G,
		const Eigen::MatrixBase< VectorLike > &	g,
		const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &	cones,
		const Eigen::DenseBase< VectorLikeOut > &	x,
		const Scalar	over_relax = Scalar(1)
	)

Solve the constrained conic problem composed of problem data (G,g,cones) and starting from the initial guess.

Parameters

[in]	G	Symmetric PSD matrix representing the Delassus of the contact problem.
[in]	g	Free contact acceleration or velicity associted with the contact problem.
[in]	cones	Vector of conic constraints.
[in,out]	x	Initial guess and output solution of the problem
[in]	over_relax	Over relaxation value

Returns

True if the problem has converged.

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

• include/pinocchio/algorithm/pgs-solver.hpp