PGSSolverSettingsTpl< _Scalar > Struct Template Reference

Settings for the PGS constraint solver loop. More...

#include <pinocchio/algorithm/solvers/pgs-solver.hpp>

Inheritance diagram for PGSSolverSettingsTpl< _Scalar >:

Collaboration diagram for PGSSolverSettingsTpl< _Scalar >:

Public Types
typedef ConstraintSolverSettingsBase< Self >	Base
typedef _Scalar	Scalar
typedef PGSSolverSettingsTpl	Self
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorXs

Public Member Functions
	PGSSolverSettingsTpl (std::size_t max_iterations=1000, Scalar absolute_feasibility_tol=Scalar(1e-6), Scalar relative_feasibility_tol=Scalar(1e-6), Scalar absolute_complementarity_tol=Scalar(1e-6), Scalar relative_complementarity_tol=Scalar(1e-6), bool solve_ncp=true, bool measure_timings=false, bool stat_record=false, Scalar over_relaxation=Scalar(1))
	Default constructor.
void	checkValidityImpl () const

Public Attributes
Scalar	over_relaxation
	Over-relaxation of PGS step. Default value is 1.

Detailed Description

template<typename _Scalar>
struct pinocchio::PGSSolverSettingsTpl< _Scalar >

Settings for the PGS constraint solver loop.

Definition at line 147 of file pgs-solver.hpp.

Member Typedef Documentation

Base

template<typename _Scalar>

typedef ConstraintSolverSettingsBase<Self> Base

Definition at line 151 of file pgs-solver.hpp.

Scalar

template<typename _Scalar>

typedef _Scalar Scalar

Definition at line 149 of file pgs-solver.hpp.

Self

template<typename _Scalar>

typedef PGSSolverSettingsTpl Self

Definition at line 150 of file pgs-solver.hpp.

VectorXs

template<typename _Scalar>

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorXs

Definition at line 152 of file pgs-solver.hpp.

Constructor & Destructor Documentation

PGSSolverSettingsTpl()

template<typename _Scalar>

PGSSolverSettingsTpl ( std::size_t max_iterations = 1000, Scalar absolute_feasibility_tol = Scalar(1e-6), Scalar relative_feasibility_tol = Scalar(1e-6), Scalar absolute_complementarity_tol = Scalar(1e-6), Scalar relative_complementarity_tol = Scalar(1e-6), bool solve_ncp = true, bool measure_timings = false, bool stat_record = false, Scalar over_relaxation = Scalar(1) )

inline

Default constructor.

Definition at line 155 of file pgs-solver.hpp.

Member Function Documentation

checkValidityImpl()

template<typename _Scalar>

void checkValidityImpl ( ) const

inline

Definition at line 178 of file pgs-solver.hpp.

Member Data Documentation

over_relaxation

template<typename _Scalar>

Scalar over_relaxation

Over-relaxation of PGS step. Default value is 1.

Definition at line 217 of file pgs-solver.hpp.

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The documentation for this struct was generated from the following files:

• include/pinocchio/algorithm/solvers/fwd.hpp
• include/pinocchio/algorithm/solvers/pgs-solver.hpp