SurgSim::Math::MlcpSolution Struct Reference

The description of a solution to a mixed linear complementarity problem. More...

#include <SurgSim/Math/MlcpSolution.h>

Inheritance diagram for SurgSim::Math::MlcpSolution:
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## Public Types

typedef Eigen::Matrix< double,
Eigen::Dynamic, 1 >
Vector

## Public Attributes

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...

## Detailed Description

The description of a solution to a mixed linear complementarity problem.

The solution consists of the vector $$x$$ and various diagnostic parameters. If $$c = \mathbf{A}x + b$$ is also needed, it can be computed by the caller.

SurgSim::Physics::MlcpPhysicsSolution, MlcpProblem, MlcpSolver

## Member Typedef Documentation

 typedef Eigen::Matrix SurgSim::Math::MlcpSolution::Vector

## Member Data Documentation

 double SurgSim::Math::MlcpSolution::constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]

The final value of the convergence criteria for each of the constraint types.

 double SurgSim::Math::MlcpSolution::convergenceCriteria

The final value of the convergence criteria.

 double SurgSim::Math::MlcpSolution::initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]

The initial value of the convergence criteria for each of the constraint types.

 double SurgSim::Math::MlcpSolution::initialConvergenceCriteria

The initial value of the convergence criteria, before the solver has done anything.

 int SurgSim::Math::MlcpSolution::numIterations

The number of iterations performed.

 bool SurgSim::Math::MlcpSolution::validConvergence

True if the final value of the convergence criteria is valid.

 bool SurgSim::Math::MlcpSolution::validSignorini

True if the final solution satisfies the Signorini conditions.

 Vector SurgSim::Math::MlcpSolution::x

Vector $$x$$ specifying a solution to the specified mixed LCP problem.

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