Template Struct PGSContactSolverTpl
Defined in File pgs-solver.hpp
Inheritance Relationships
Base Type
public pinocchio::ContactSolverBaseTpl< _Scalar >
(Template Struct ContactSolverBaseTpl)
Struct Documentation
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template<typename _Scalar>
struct PGSContactSolverTpl : public pinocchio::ContactSolverBaseTpl<_Scalar> Projected Gauss Siedel solver.
Public Types
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typedef ContactSolverBaseTpl<Scalar> Base
Public Functions
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inline explicit PGSContactSolverTpl(const int problem_size)
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template<typename MatrixLike, typename VectorLike, typename ConstraintAllocator, typename VectorLikeOut>
bool solve(const MatrixLike &G, const Eigen::MatrixBase<VectorLike> &g, const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator> &cones, const Eigen::DenseBase<VectorLikeOut> &x, const Scalar over_relax = Scalar(1)) Solve the constrained conic problem composed of problem data (G,g,cones) and starting from the initial guess.
- Parameters:
G – [in] Symmetric PSD matrix representing the Delassus of the contact problem.
g – [in] Free contact acceleration or velicity associted with the contact problem.
cones – [in] Vector of conic constraints.
x – [inout] Initial guess and output solution of the problem
over_relax – [in] Over relaxation value
- Returns:
True if the problem has converged.
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typedef ContactSolverBaseTpl<Scalar> Base