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

 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:
=
static const bool ONLY_STATIC_FRICTION_FORMULATION
static const bool 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.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:06