Template Struct ContactSolverBaseTpl

Inheritance Relationships

Derived Type

Struct Documentation

template<typename _Scalar>
struct ContactSolverBaseTpl

Subclassed by pinocchio::PGSContactSolverTpl< _Scalar >

Public Types

typedef _Scalar Scalar

Public Functions

inline explicit ContactSolverBaseTpl(const int problem_size)
inline int getProblemSize() const

Returns the size of the problem.

inline int getIterationCount() const

Get the number of iterations achieved by the solver.

inline void setMaxIterations(const int max_it)

Set the maximum number of iterations.

inline int getMaxIterations() const

Get the maximum number of iterations allowed.

inline void setAbsolutePrecision(const Scalar absolute_precision)

Set the absolute precision for the problem.

inline Scalar getAbsolutePrecision() const

Get the absolute precision requested.

inline void setRelativePrecision(const Scalar relative_precision)

Set the relative precision for the problem.

inline Scalar getRelativePrecision() const

Get the relative precision requested.

inline Scalar getAbsoluteConvergenceResidual() const

Returns the value of the absolute residual value corresponding to the contact complementary conditions.

inline Scalar getRelativeConvergenceResidual() const

Returns the value of the relative residual value corresponding to the difference between two successive iterates (infinity norms).

Protected Attributes

int problem_size

Size of the problem.

int max_it

Maximum number of iterations.

int it

Number of iterations needed to achieve convergence.

Scalar absolute_precision

Desired absolute precision.

Scalar relative_precision

Desired relative precision.

Scalar absolute_residual

Absolule convergence residual value.

Scalar relative_residual

Relative convergence residual value.