ConstraintForceSolver.cpp File Reference

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>

Include dependency graph for ConstraintForceSolver.cpp:

Go to the source code of this file.

Classes
struct	hrp::CFSImpl::BodyData
class	hrp::CFSImpl
struct	hrp::CFSImpl::ConstraintPoint
class	hrp::CFSImpl::ExtraJointLinkPair
struct	hrp::CFSImpl::LinkData
class	hrp::CFSImpl::LinkPair

Namespaces
	hrp

Variables
static const bool	ALLOW_SUBTLE_PENETRATION_FOR_STABILITY = true
static const double	ALLOWED_PENETRATION_DEPTH = 0.0001
static const bool	ASSUME_SYMMETRIC_MATRIX = false
static const bool	CFS_DEBUG = false
static const bool	CFS_DEBUG_LCPCHECK = false
static const bool	CFS_DEBUG_VERBOSE = false
static const bool	CFS_DEBUG_VERBOSE_2 = false
static const bool	CFS_DEBUG_VERBOSE_3 = false
static const bool	CFS_MCP_DEBUG = false
static const bool	CFS_MCP_DEBUG_SHOW_ITERATION_STOP = false
static const bool	CFS_PUT_NUM_CONTACT_POINTS = false
static const double	DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR = 1.0e-3
static const int	DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION = 500
static const double	DEFAULT_NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION = 10.0
static const int	DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION = 0
static const int	DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 10
static const bool	ENABLE_RANDOM_STATIC_FRICTION_BASE = false
static const bool	ENABLE_STATIC_FRICTION = true
static const bool	ENABLE_TRUE_FRICTION_CONE
static const bool	IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION = false
static const bool	ONLY_STATIC_FRICTION_FORMULATION = (true && ENABLE_STATIC_FRICTION)
static const bool	PROPORTIONAL_DYNAMIC_FRICTION = false
static const bool	SKIP_REDUNDANT_ACCEL_CALC = true
static const bool	STATIC_FRICTION_BY_TWO_CONSTRAINTS = true
static const double	THRESH_TO_SWITCH_REL_ERROR = 1.0e-8
static const bool	USE_PREVIOUS_LCP_SOLUTION = true
static const bool	usePivotingLCP = false
static const double	VEL_THRESH_OF_DYNAMIC_FRICTION = 1.0e-4

Detailed Description

Implementation of ConstraintForceSolver class.

Author

Shin'ichiro Nakaoka

Rafael Cisneros

Definition in file ConstraintForceSolver.cpp.

Variable Documentation

ALLOW_SUBTLE_PENETRATION_FOR_STABILITY

const bool ALLOW_SUBTLE_PENETRATION_FOR_STABILITY = true

static

Definition at line 81 of file ConstraintForceSolver.cpp.

ALLOWED_PENETRATION_DEPTH

const double ALLOWED_PENETRATION_DEPTH = 0.0001

static

Definition at line 84 of file ConstraintForceSolver.cpp.

ASSUME_SYMMETRIC_MATRIX

const bool ASSUME_SYMMETRIC_MATRIX = false

static

Definition at line 71 of file ConstraintForceSolver.cpp.

CFS_DEBUG

const bool CFS_DEBUG = false

static

Definition at line 102 of file ConstraintForceSolver.cpp.

CFS_DEBUG_LCPCHECK

const bool CFS_DEBUG_LCPCHECK = false

static

Definition at line 106 of file ConstraintForceSolver.cpp.

CFS_DEBUG_VERBOSE

const bool CFS_DEBUG_VERBOSE = false

static

Definition at line 103 of file ConstraintForceSolver.cpp.

CFS_DEBUG_VERBOSE_2

const bool CFS_DEBUG_VERBOSE_2 = false

static

Definition at line 104 of file ConstraintForceSolver.cpp.

CFS_DEBUG_VERBOSE_3

const bool CFS_DEBUG_VERBOSE_3 = false

static

Definition at line 105 of file ConstraintForceSolver.cpp.

CFS_MCP_DEBUG

const bool CFS_MCP_DEBUG = false

static

Definition at line 107 of file ConstraintForceSolver.cpp.

CFS_MCP_DEBUG_SHOW_ITERATION_STOP

const bool CFS_MCP_DEBUG_SHOW_ITERATION_STOP = false

static

Definition at line 108 of file ConstraintForceSolver.cpp.

CFS_PUT_NUM_CONTACT_POINTS

const bool CFS_PUT_NUM_CONTACT_POINTS = false

static

Definition at line 110 of file ConstraintForceSolver.cpp.

DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR

const double DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR = 1.0e-3

static

Definition at line 76 of file ConstraintForceSolver.cpp.

DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION

const int DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION = 500

static

Definition at line 73 of file ConstraintForceSolver.cpp.

DEFAULT_NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION

const double DEFAULT_NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION = 10.0

static

Definition at line 87 of file ConstraintForceSolver.cpp.

DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION

const int DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION = 0

static

Definition at line 75 of file ConstraintForceSolver.cpp.

DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK

const int DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 10

static

Definition at line 74 of file ConstraintForceSolver.cpp.

ENABLE_RANDOM_STATIC_FRICTION_BASE

const bool ENABLE_RANDOM_STATIC_FRICTION_BASE = false

static

Definition at line 98 of file ConstraintForceSolver.cpp.

ENABLE_STATIC_FRICTION

const bool ENABLE_STATIC_FRICTION = true

static

Definition at line 62 of file ConstraintForceSolver.cpp.

ENABLE_TRUE_FRICTION_CONE

const bool ENABLE_TRUE_FRICTION_CONE

static

Initial value:

=
    (true && ONLY_STATIC_FRICTION_FORMULATION && STATIC_FRICTION_BY_TWO_CONSTRAINTS)

Definition at line 67 of file ConstraintForceSolver.cpp.

IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION

const bool IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION = false

static

Definition at line 65 of file ConstraintForceSolver.cpp.

ONLY_STATIC_FRICTION_FORMULATION

const bool ONLY_STATIC_FRICTION_FORMULATION = (true && ENABLE_STATIC_FRICTION)

static

Definition at line 63 of file ConstraintForceSolver.cpp.

PROPORTIONAL_DYNAMIC_FRICTION

const bool PROPORTIONAL_DYNAMIC_FRICTION = false

static

Definition at line 97 of file ConstraintForceSolver.cpp.

SKIP_REDUNDANT_ACCEL_CALC

const bool SKIP_REDUNDANT_ACCEL_CALC = true

static

Definition at line 70 of file ConstraintForceSolver.cpp.

STATIC_FRICTION_BY_TWO_CONSTRAINTS

const bool STATIC_FRICTION_BY_TWO_CONSTRAINTS = true

static

Definition at line 64 of file ConstraintForceSolver.cpp.

THRESH_TO_SWITCH_REL_ERROR

const double THRESH_TO_SWITCH_REL_ERROR = 1.0e-8

static

Definition at line 78 of file ConstraintForceSolver.cpp.

USE_PREVIOUS_LCP_SOLUTION

const bool USE_PREVIOUS_LCP_SOLUTION = true

static

Definition at line 79 of file ConstraintForceSolver.cpp.

usePivotingLCP

const bool usePivotingLCP = false

static

Definition at line 54 of file ConstraintForceSolver.cpp.

VEL_THRESH_OF_DYNAMIC_FRICTION

const double VEL_THRESH_OF_DYNAMIC_FRICTION = 1.0e-4

static

Definition at line 60 of file ConstraintForceSolver.cpp.