Struct describing the solution of the PGS constraint solver after calling the solve method. Also contains the warmstart of the solution to the constraint problem. More...

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

Inheritance diagram for PGSSolverResultTpl< _Scalar, _Options >:

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Collaboration diagram for PGSSolverResultTpl< _Scalar, _Options >:

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Public Types
typedef ConstraintSolverResultBase< Self >	Base

typedef Eigen::Ref< const VectorXs >	RefConstVectorXs

typedef _Scalar	Scalar

typedef PGSSolverResultTpl	Self

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

typedef internal::EigenStorageTpl< VectorXs >	VectorXsStorage

Public Member Functions
	PGSSolverResultTpl ()
	Default constructor.

	PGSSolverResultTpl (const PGSSolverResultTpl &other)
	Copy constructor.

void	clearConstraintImpulseGuessImpl ()

void	clearConstraintVelocityGuessImpl ()

int	constraintSizeImpl () const

PGSSolverResultTpl &	operator= (const PGSSolverResultTpl &other)
	Assignment operator.

void	resetImpl ()

void	resize (std::size_t problem_size_)
	Resize the primal/dual vectors of the solution.

template<typename VectorLike >
void	retrieveConstraintImpulsesImpl (const Eigen::MatrixBase< VectorLike > &constraint_impulses_) const

template<typename VectorLike >
void	retrieveConstraintVelocitiesImpl (const Eigen::MatrixBase< VectorLike > &constraint_velocities_) const

template<typename VectorLike >
void	retrieveDualSolution (const Eigen::MatrixBase< VectorLike > &dual_solution_) const
	Retrieve dual solution.

template<typename VectorLike >
void	retrievePrimalSolution (const Eigen::MatrixBase< VectorLike > &primal_solution_) const
	Retrieve primal solution.

template<typename VectorLike >
void	setConstraintImpulseGuessImpl (const Eigen::MatrixBase< VectorLike > &impulse_guess_in)

template<typename VectorLike >
void	setConstraintVelocityGuessImpl (const Eigen::MatrixBase< VectorLike > &)

Public Attributes
std::optional< RefConstVectorXs >	impulse_guess
	Optional guess for the primal variable (impulses).

VectorXsStorage::RefMapType	m_impulse_guess = m_impulse_guess_storage.map()

VectorXsStorage	m_impulse_guess_storage
	Storage for the optional impulse guess.

std::size_t	problem_size
	Size of primal/dual variables.

VectorXsStorage::RefMapType	x = x_storage.map()

VectorXsStorage	x_storage
	Primal solution. More...

VectorXsStorage::RefMapType	y = y_storage.map()

VectorXsStorage	y_storage
	Dual solution.

Static Public Attributes
static constexpr int	Options = _Options

Detailed Description

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

Struct describing the solution of the PGS constraint solver after calling the solve method. Also contains the warmstart of the solution to the constraint problem.

Definition at line 232 of file pgs-solver.hpp.

Member Function Documentation

◆ constraintSizeImpl()

int constraintSizeImpl ( ) const

inline

Definition at line 288 of file pgs-solver.hpp.

◆ retrieveConstraintVelocitiesImpl()

void retrieveConstraintVelocitiesImpl ( const Eigen::MatrixBase< VectorLike > & constraint_velocities_ ) const

inline

At the optimum we have y = Gx + g. WARNING: the PGS solver does not take into account desaxce terms for now. It only solves the CCP (not the NCP).

Definition at line 365 of file pgs-solver.hpp.

Member Data Documentation

◆ x_storage

VectorXsStorage x_storage

Primal solution.

Note: Order of storage/map declaration is important! First declare the storage, then the map, otherwise map will point to nothing.

Definition at line 402 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

	pinocchio 4.0.0 A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Public Types

Public Member Functions

Public Attributes

Static Public Attributes