Public Attributes | List of all members
SurgSim::Physics::MlcpPhysicsSolution Struct Reference

The description of a solution to a physical MLCP problem. More...

#include <SurgSim/Physics/MlcpPhysicsSolution.h>

Inheritance diagram for SurgSim::Physics::MlcpPhysicsSolution:
SurgSim::Math::MlcpSolution

Public Attributes

Vector dofCorrection
 Corrections to all of the degrees of freedom needed to satisfy the system equations. More...
 
- Public Attributes inherited from SurgSim::Math::MlcpSolution
Vector x
 Vector \(x\) specifying a solution to the specified mixed LCP problem. More...
 
int 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...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Math::MlcpSolution
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
 

Detailed Description

The description of a solution to a physical MLCP problem.

The solution consists of a mathematical solution for the MLCP and the vector dofCorrection containing the displacements (corrections) for each degree of freedom present in the system.

See also
SurgSim::Math::MlcpSolution, MlcpPhysicsProblem, SurgSim::Math::MlcpSolver

Member Data Documentation

Vector SurgSim::Physics::MlcpPhysicsSolution::dofCorrection

Corrections to all of the degrees of freedom needed to satisfy the system equations.


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