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MlcpSolution.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_MLCPSOLUTION_H
17 #define SURGSIM_MATH_MLCPSOLUTION_H
18 
19 #include <Eigen/Core>
21 
22 namespace SurgSim
23 {
24 namespace Math
25 {
26 
34 {
35  typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
36 
39 
54 
55  // NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment,
56  // because we currently sometimes need to copy the solution (although we ought to minimize this).
57  // The C++11-ish way to indicate that explicitly would be to write code like this:
58  // MlcpProblem() = default;
59  // MlcpProblem(const MlcpProblem& other) = default;
60  // MlcpProblem& operator= (const MlcpProblem& other) = default;
61  // but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment.
62  // We may also want to add move construction and move assignment. --advornik 2013-06-24
63 };
64 
65 }; // namespace Math
66 }; // namespace SurgSim
67 
68 #endif // SURGSIM_MATH_MLCPSOLUTION_H
bool validConvergence
True if the final value of the convergence criteria is valid.
Definition: MlcpSolution.h:43
Vector x
Vector specifying a solution to the specified mixed LCP problem.
Definition: MlcpSolution.h:38
Definition: MlcpConstraintType.h:44
bool validSignorini
True if the final solution satisfies the Signorini conditions.
Definition: MlcpSolution.h:45
double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]
The initial value of the convergence criteria for each of the constraint types.
Definition: MlcpSolution.h:53
double initialConvergenceCriteria
The initial value of the convergence criteria, before the solver has done anything.
Definition: MlcpSolution.h:49
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
Definition: MlcpSolution.h:35
The description of a solution to a mixed linear complementarity problem.
Definition: MlcpSolution.h:33
double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]
The final value of the convergence criteria for each of the constraint types.
Definition: MlcpSolution.h:51
int numIterations
The number of iterations performed.
Definition: MlcpSolution.h:41
double convergenceCriteria
The final value of the convergence criteria.
Definition: MlcpSolution.h:47