Template Struct ContactSolverBaseTpl
Defined in File contact-solver-base.hpp
Inheritance Relationships
Derived Type
public pinocchio::PGSContactSolverTpl< _Scalar >
(Template Struct PGSContactSolverTpl)
Struct Documentation
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template<typename _Scalar>
struct ContactSolverBaseTpl Subclassed by pinocchio::PGSContactSolverTpl< _Scalar >
Public Functions
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inline explicit ContactSolverBaseTpl(const int problem_size)
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inline int getProblemSize() const
Returns the size of the problem.
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inline int getIterationCount() const
Get the number of iterations achieved by the solver.
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inline void setMaxIterations(const int max_it)
Set the maximum number of iterations.
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inline int getMaxIterations() const
Get the maximum number of iterations allowed.
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inline void setAbsolutePrecision(const Scalar absolute_precision)
Set the absolute precision for the problem.
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inline void setRelativePrecision(const Scalar relative_precision)
Set the relative precision for the problem.
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inline explicit ContactSolverBaseTpl(const int problem_size)