MlcpSolution.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_MLCPSOLUTION_H
#define SURGSIM_MATH_MLCPSOLUTION_H
#include <Eigen/Core>
#include "SurgSim/Math/MlcpConstraintType.h"
namespace SurgSim
{
namespace Math
{
struct MlcpSolution
{
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
Vector x;
size_t numIterations;
bool validConvergence;
bool validSignorini;
double convergenceCriteria;
double initialConvergenceCriteria;
double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES];
double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES];
// NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment,
// because we currently sometimes need to copy the solution (although we ought to minimize this).
// The C++11-ish way to indicate that explicitly would be to write code like this:
// MlcpProblem() = default;
// MlcpProblem(const MlcpProblem& other) = default;
// MlcpProblem& operator= (const MlcpProblem& other) = default;
// but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment.
// We may also want to add move construction and move assignment. --advornik 2013-06-24
};
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_MLCPSOLUTION_H
SurgSim::Math::MlcpSolution::validConvergence
bool validConvergence
True if the final value of the convergence criteria is valid.
Definition: MlcpSolution.h:43
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Math::MlcpSolution::x
Vector x
Vector specifying a solution to the specified mixed LCP problem.
Definition: MlcpSolution.h:38
SurgSim::Math::MLCP_NUM_CONSTRAINT_TYPES
Definition: MlcpConstraintType.h:44
SurgSim::Math::MlcpSolution::validSignorini
bool validSignorini
True if the final solution satisfies the Signorini conditions.
Definition: MlcpSolution.h:45
SurgSim::Math::MlcpSolution::initialConstraintConvergenceCriteria
double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]
The initial value of the convergence criteria for each of the constraint types.
Definition: MlcpSolution.h:53
SurgSim::Math::MlcpSolution::initialConvergenceCriteria
double initialConvergenceCriteria
The initial value of the convergence criteria, before the solver has done anything.
Definition: MlcpSolution.h:49
SurgSim::Math::MlcpSolution::Vector
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
Definition: MlcpSolution.h:35
SurgSim::Math::MlcpSolution
The description of a solution to a mixed linear complementarity problem.
Definition: MlcpSolution.h:33
MlcpConstraintType.h
SurgSim::Math::MlcpSolution::constraintConvergenceCriteria
double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]
The final value of the convergence criteria for each of the constraint types.
Definition: MlcpSolution.h:51
SurgSim::Math::MlcpSolution::numIterations
size_t numIterations
The number of iterations performed.
Definition: MlcpSolution.h:41
SurgSim::Math::MlcpSolution::convergenceCriteria
double convergenceCriteria
The final value of the convergence criteria.
Definition: MlcpSolution.h:47