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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 | List of all members
PGSSolverSettingsTpl< _Scalar > Struct Template Reference

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

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

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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.

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