pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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proximal.hpp
1//
2// Copyright (c) 2019-2022 INRIA
3//
4
5#ifndef __pinocchio_algorithm_proximal_hpp__
6#define __pinocchio_algorithm_proximal_hpp__
7
8#include <Eigen/Core>
9#include "pinocchio/multibody/model.hpp"
10#include "pinocchio/multibody/data.hpp"
11
12namespace pinocchio
13{
14
23 template<typename _Scalar>
24 struct ProximalSettingsTpl
25 {
26 typedef _Scalar Scalar;
27
29 ProximalSettingsTpl()
30 : absolute_accuracy(Eigen::NumTraits<Scalar>::dummy_precision())
31 , relative_accuracy(Eigen::NumTraits<Scalar>::dummy_precision())
32 , mu(0)
33 , max_iter(1)
34 , absolute_residual(-1.)
35 , relative_residual(-1.)
36 , iter(0)
37 {
38 }
39
43 ProximalSettingsTpl(const Scalar accuracy, const Scalar mu, const int max_iter)
44 : absolute_accuracy(accuracy)
45 , relative_accuracy(accuracy)
46 , mu(mu)
47 , max_iter(max_iter)
48 , absolute_residual(-1.)
49 , relative_residual(-1.)
50 , iter(0)
51 {
52 PINOCCHIO_CHECK_INPUT_ARGUMENT(
53 check_expression_if_real<Scalar>(accuracy >= 0.) && "Accuracy must be positive.");
54 PINOCCHIO_CHECK_INPUT_ARGUMENT(
55 check_expression_if_real<Scalar>(mu >= 0.) && "mu must be positive");
56 assert(max_iter >= 1 && "max_iter must be greater or equal to 1");
57 }
58
62 ProximalSettingsTpl(
63 const Scalar absolute_accuracy,
64 const Scalar relative_accuracy,
65 const Scalar mu,
66 const int max_iter)
67 : absolute_accuracy(absolute_accuracy)
68 , relative_accuracy(relative_accuracy)
69 , mu(mu)
70 , max_iter(max_iter)
71 , absolute_residual(-1.)
72 , relative_residual(-1.)
73 , iter(0)
74 {
75 PINOCCHIO_CHECK_INPUT_ARGUMENT(
76 check_expression_if_real<Scalar>(absolute_accuracy >= 0.)
77 && "Absolute accuracy must be positive.");
78 PINOCCHIO_CHECK_INPUT_ARGUMENT(
79 check_expression_if_real<Scalar>(relative_accuracy >= 0.)
80 && "Relative accuracy must be positive.");
81 PINOCCHIO_CHECK_INPUT_ARGUMENT(
82 check_expression_if_real<Scalar>(mu >= 0.) && "mu must be positive");
83 assert(max_iter >= 1 && "max_iter must be greater or equal to 1");
84 }
85
86 // data
87
89 Scalar absolute_accuracy;
90
92 Scalar relative_accuracy;
93
95 Scalar mu;
96
98 int max_iter;
99
100 // data that can be modified by the algorithm
101
103 Scalar absolute_residual;
104
106 Scalar relative_residual;
107
110 int iter;
111 };
112
113} // namespace pinocchio
114
115#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
116 #include "pinocchio/algorithm/proximal.txx"
117#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
118
119#endif // ifndef __pinocchio_algorithm_proximal_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::ProximalSettingsTpl::ProximalSettingsTpl
ProximalSettingsTpl()
Default constructor.
Definition proximal.hpp:29
pinocchio::ProximalSettingsTpl::ProximalSettingsTpl
ProximalSettingsTpl(const Scalar accuracy, const Scalar mu, const int max_iter)
Constructor with all the setting parameters.
Definition proximal.hpp:43
pinocchio::ProximalSettingsTpl::ProximalSettingsTpl
ProximalSettingsTpl(const Scalar absolute_accuracy, const Scalar relative_accuracy, const Scalar mu, const int max_iter)
Constructor with all the setting parameters.
Definition proximal.hpp:62