c_variational_integrator_settings Struct Reference

Numerical controls for the maximal-coordinate variational integrator. More...

#include <dynamics.h>

Public Attributes
double	tolerance
	Euclidean nonlinear-residual convergence tolerance.
double	finite_difference_step
	Relative forward-difference step used for numerical Jacobians.
double	constraint_translation_scale
	Translation scale used as the absolute finite-difference floor.
double	constraint_rotation_scale
	Dimensionless quaternion-tangent finite-difference scale.
int	maximum_iterations
	Maximum Newton iterations allowed per time step.
int	maximum_line_search_iterations
	Maximum residual line-search step halvings per Newton iteration.
int	linear_solver
	DYN_VI_DENSE_SOLVER or DYN_VI_GRAPH_FACTORIZED_SOLVER.
int	force_evaluation
	One of DYN_VI_FORCE_LEFT_ENDPOINT, DYN_VI_FORCE_IMPLICIT_ENDPOINT, or DYN_VI_FORCE_MIDPOINT.

Detailed Description

Numerical controls for the maximal-coordinate variational integrator.

Member Data Documentation

tolerance

double c_variational_integrator_settings::tolerance

Euclidean nonlinear-residual convergence tolerance.

finite_difference_step

double c_variational_integrator_settings::finite_difference_step

Relative forward-difference step used for numerical Jacobians.

constraint_translation_scale

double c_variational_integrator_settings::constraint_translation_scale

Translation scale used as the absolute finite-difference floor.

constraint_rotation_scale

double c_variational_integrator_settings::constraint_rotation_scale

Dimensionless quaternion-tangent finite-difference scale.

maximum_iterations

int c_variational_integrator_settings::maximum_iterations

Maximum Newton iterations allowed per time step.

maximum_line_search_iterations

int c_variational_integrator_settings::maximum_line_search_iterations

Maximum residual line-search step halvings per Newton iteration.

linear_solver

int c_variational_integrator_settings::linear_solver

DYN_VI_DENSE_SOLVER or DYN_VI_GRAPH_FACTORIZED_SOLVER.

force_evaluation

int c_variational_integrator_settings::force_evaluation

One of DYN_VI_FORCE_LEFT_ENDPOINT, DYN_VI_FORCE_IMPLICIT_ENDPOINT, or DYN_VI_FORCE_MIDPOINT.

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

• dynamics.h