Solve the system Mixed Linear Complementarity Problem (Mlcp) More...

Inheritance diagram for SurgSim::Physics::SolveMlcp:

Public Member Functions
	SolveMlcp (bool doCopyState=false)
	Constructor. More...

virtual	~SolveMlcp ()
	Destructor. More...

void	setMaxIterations (int maxIterations)

void	setSolverPrecision (double epsilon)

void	setContactTolerance (double epsilon)

Public Member Functions inherited from SurgSim::Physics::Computation
	Computation (bool doCopyState)
	Constructor. More...

virtual	~Computation ()
	Destructor. More...

std::shared_ptr< PhysicsManagerState >	update (double dt, const std::shared_ptr< PhysicsManagerState > &state)
	Public Interface execute this objects computations, dt is the time from the last update call in seconds. More...

void	setDoCopyState (bool val)
	Sets up whether the computation will copy the state of PhysicsManagerState before executing. More...

bool	isCopyingState ()
	Query if this object is copying the PhysicsManagerState. More...

Protected Member Functions
virtual std::shared_ptr< PhysicsManagerState >	doUpdate (const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
	Override doUpdate from superclass. More...

Private Attributes
SurgSim::Math::MlcpGaussSeidelSolver	m_gaussSeidelSolver
	The Gauss-Seidel Mlcp solver. More...

Detailed Description

Solve the system Mixed Linear Complementarity Problem (Mlcp)

Constructor & Destructor Documentation

SurgSim::Physics::SolveMlcp::SolveMlcp ( bool doCopyState = false )

explicit

Constructor.

Parameters

doCopyState Specify if the ouput state is a copy or not of the input state in Computation::Update()

SurgSim::Physics::SolveMlcp::~SolveMlcp ( )

virtual

Destructor.

std::shared_ptr< PhysicsManagerState > SurgSim::Physics::SolveMlcp::doUpdate	(	const double &	dt,
		const std::shared_ptr< PhysicsManagerState > &	state
	)

overrideprotectedvirtual

Override doUpdate from superclass.

Parameters

dt	The time step
state	The Physics manager state

Returns: The updated physics manager state (input updated or copied updated)

void SurgSim::Physics::SolveMlcp::setContactTolerance ( double epsilon )

void SurgSim::Physics::SolveMlcp::setMaxIterations ( int maxIterations )

void SurgSim::Physics::SolveMlcp::setSolverPrecision ( double epsilon )

SurgSim::Math::MlcpGaussSeidelSolver SurgSim::Physics::SolveMlcp::m_gaussSeidelSolver

private

The Gauss-Seidel Mlcp solver.

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