Classes | Namespaces | Variables
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

namespace  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

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.

const bool CFS_DEBUG = false [static]

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.

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.

Definition at line 73 of file ConstraintForceSolver.cpp.

Definition at line 87 of file ConstraintForceSolver.cpp.

Definition at line 75 of file ConstraintForceSolver.cpp.

Definition at line 74 of file ConstraintForceSolver.cpp.

Definition at line 98 of file ConstraintForceSolver.cpp.

const bool ENABLE_STATIC_FRICTION = true [static]

Definition at line 62 of file ConstraintForceSolver.cpp.

Definition at line 65 of file ConstraintForceSolver.cpp.

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.

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.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:57