PGSConstraintSolverTpl< _Scalar, _Options > Struct Template Reference

Projected Gauss Siedel solver. More...

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

Inheritance diagram for PGSConstraintSolverTpl< _Scalar, _Options >:

Collaboration diagram for PGSConstraintSolverTpl< _Scalar, _Options >:

Public Types
typedef ConstraintSolverBase< Self >	Base
typedef PGSSolverResultTpl< Scalar, Options >	PGSSolverResult
typedef PGSSolverSettingsTpl< Scalar >	PGSSolverSettings
typedef PGSSolverStatsTpl< Scalar >	PGSSolverStats
typedef internal::PGSSolverWorkspaceTpl< Scalar, Options >	PGSSolverWorkspace
typedef Eigen::Ref< const VectorXs >	RefConstVectorXs
typedef _Scalar	Scalar
typedef PGSConstraintSolverTpl	Self
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
	PGSConstraintSolverTpl (std::size_t max_problem_size=0)
	Default constructor. More...
bool	isValid () const
	Returns true if solver is in a valid state (it has solved a constraint problem). If so, its stats are valid.
void	resetImpl ()
template<typename DelassusDerived , typename VectorLike , typename ConstraintModel , typename ConstraintModelAllocator , typename ConstraintData , typename ConstraintDataAllocator >
bool	solveImpl (DelassusOperatorBase< DelassusDerived > &delassus, const Eigen::MatrixBase< VectorLike > &g, const std::vector< ConstraintModel, ConstraintModelAllocator > &constraint_models, const std::vector< ConstraintData, ConstraintDataAllocator > &constraint_datas, const PGSSolverSettings &settings, PGSSolverResult &result)

Public Attributes
PGSSolverStats	stats
	Per-iteration stats of the PGS solver.

Static Public Attributes
static constexpr int	Options = _Options

Protected Attributes
bool	m_is_valid
	Flag to check whether or not the solver is in a reset state. If not, its stats are valid.
PGSSolverWorkspace	m_workspace
	Workspace of the PGS solver. This is an internal of the solver and is not meant to be accessed by users.

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::PGSConstraintSolverTpl< _Scalar, _Options >

Projected Gauss Siedel solver.

Definition at line 58 of file pgs-solver.hpp.

Constructor & Destructor Documentation

PGSConstraintSolverTpl()

PGSConstraintSolverTpl ( std::size_t  max_problem_size = 0 )

inlineexplicit

Default constructor.

Note

The user can give max_problem_size to preallocate maximum problem sizes data. This is optional and the solver will automatically resize its workspace to handle the constraint problem thrown at it. If the solver encounters a problem which size is bigger than max_problem_size, it will automatically resize its internals as well as the result output of solve.

Parameters

[in]

max_problem_size

maximum problem size (before automatic reallocation)

Definition at line 84 of file pgs-solver.hpp.

---

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

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