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:

## 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...
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...

## 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

## dofCorrection

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:

- SurgSim/Physics/MlcpPhysicsSolution.h