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:

## 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...
size_t | 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.

See also
  SurgSim::Physics::MlcpPhysicsSolution, MlcpProblem, MlcpSolver

## Member Typedef Documentation

## Vector

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> SurgSim::Math::MlcpSolution::Vector

## Member Data Documentation

## constraintConvergenceCriteria

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

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

## convergenceCriteria

double SurgSim::Math::MlcpSolution::convergenceCriteria

The final value of the convergence criteria.

## initialConstraintConvergenceCriteria

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

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

## initialConvergenceCriteria

double SurgSim::Math::MlcpSolution::initialConvergenceCriteria

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

## numIterations

size_t SurgSim::Math::MlcpSolution::numIterations

The number of iterations performed.

## validConvergence

bool SurgSim::Math::MlcpSolution::validConvergence

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

## validSignorini

bool SurgSim::Math::MlcpSolution::validSignorini

True if the final solution satisfies the Signorini conditions.

## x

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:

- SurgSim/Math/MlcpSolution.h