Implementation of ConstraintForceSolver class. More...
#include "World.h"
#include "Body.h"
#include "Link.h"
#include "LinkTraverse.h"
#include "ForwardDynamicsCBM.h"
#include "ConstraintForceSolver.h"
#include <hrpUtil/EigenTypes.h>
#include <hrpCorba/OpenHRPCommon.hh>
#include <hrpCollision/ColdetModelPair.h>
#include <limits>
#include <boost/format.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/random.hpp>
#include <fstream>
#include <iomanip>
#include <boost/lexical_cast.hpp>
Go to the source code of this file.
Implementation of ConstraintForceSolver class.
Definition in file ConstraintForceSolver.cpp.
const bool ALLOW_SUBTLE_PENETRATION_FOR_STABILITY = true [static] |
Definition at line 81 of file ConstraintForceSolver.cpp.
const double ALLOWED_PENETRATION_DEPTH = 0.0001 [static] |
Definition at line 84 of file ConstraintForceSolver.cpp.
const bool ASSUME_SYMMETRIC_MATRIX = false [static] |
Definition at line 71 of file ConstraintForceSolver.cpp.
Definition at line 102 of file ConstraintForceSolver.cpp.
const bool CFS_DEBUG_LCPCHECK = false [static] |
Definition at line 106 of file ConstraintForceSolver.cpp.
const bool CFS_DEBUG_VERBOSE = false [static] |
Definition at line 103 of file ConstraintForceSolver.cpp.
const bool CFS_DEBUG_VERBOSE_2 = false [static] |
Definition at line 104 of file ConstraintForceSolver.cpp.
const bool CFS_DEBUG_VERBOSE_3 = false [static] |
Definition at line 105 of file ConstraintForceSolver.cpp.
const bool CFS_MCP_DEBUG = false [static] |
Definition at line 107 of file ConstraintForceSolver.cpp.
const bool CFS_MCP_DEBUG_SHOW_ITERATION_STOP = false [static] |
Definition at line 108 of file ConstraintForceSolver.cpp.
const bool CFS_PUT_NUM_CONTACT_POINTS = false [static] |
Definition at line 110 of file ConstraintForceSolver.cpp.
const double DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR = 1.0e-3 [static] |
Definition at line 76 of file ConstraintForceSolver.cpp.
const int DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION = 500 [static] |
Definition at line 73 of file ConstraintForceSolver.cpp.
const double DEFAULT_NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION = 10.0 [static] |
Definition at line 87 of file ConstraintForceSolver.cpp.
const int DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION = 0 [static] |
Definition at line 75 of file ConstraintForceSolver.cpp.
const int DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 10 [static] |
Definition at line 74 of file ConstraintForceSolver.cpp.
const bool ENABLE_RANDOM_STATIC_FRICTION_BASE = false [static] |
Definition at line 98 of file ConstraintForceSolver.cpp.
const bool ENABLE_STATIC_FRICTION = true [static] |
Definition at line 62 of file ConstraintForceSolver.cpp.
const bool ENABLE_TRUE_FRICTION_CONE [static] |
Definition at line 67 of file ConstraintForceSolver.cpp.
const bool IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION = false [static] |
Definition at line 65 of file ConstraintForceSolver.cpp.
const bool ONLY_STATIC_FRICTION_FORMULATION = (true && ENABLE_STATIC_FRICTION) [static] |
Definition at line 63 of file ConstraintForceSolver.cpp.
const bool PROPORTIONAL_DYNAMIC_FRICTION = false [static] |
Definition at line 97 of file ConstraintForceSolver.cpp.
const bool SKIP_REDUNDANT_ACCEL_CALC = true [static] |
Definition at line 70 of file ConstraintForceSolver.cpp.
const bool STATIC_FRICTION_BY_TWO_CONSTRAINTS = true [static] |
Definition at line 64 of file ConstraintForceSolver.cpp.
const double THRESH_TO_SWITCH_REL_ERROR = 1.0e-8 [static] |
Definition at line 78 of file ConstraintForceSolver.cpp.
const bool USE_PREVIOUS_LCP_SOLUTION = true [static] |
Definition at line 79 of file ConstraintForceSolver.cpp.
const bool usePivotingLCP = false [static] |
Definition at line 54 of file ConstraintForceSolver.cpp.
const double VEL_THRESH_OF_DYNAMIC_FRICTION = 1.0e-4 [static] |
Definition at line 60 of file ConstraintForceSolver.cpp.