/usr/include/SurgSim/Math/MlcpSolution.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_MLCPSOLUTION_H
#define SURGSIM_MATH_MLCPSOLUTION_H
#include <Eigen/Core>
#include "SurgSim/Math/MlcpConstraintType.h"
namespace SurgSim
{
namespace Math
{
/// The description of a solution to a \ref MlcpProblem "mixed linear complementarity problem".
///
/// The solution consists of the vector \f$x\f$ and various diagnostic parameters.
/// If \f$c = \mathbf{A}x + b\f$ is also needed, it can be computed by the caller.
///
/// \sa SurgSim::Physics::MlcpPhysicsSolution, MlcpProblem, MlcpSolver
struct MlcpSolution
{
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
/// Vector \f$x\f$ specifying a solution to the specified mixed LCP problem.
Vector x;
/// The number of iterations performed.
size_t numIterations;
/// True if the final value of the convergence criteria is valid.
bool validConvergence;
/// True if the final solution satisfies the Signorini conditions.
bool validSignorini;
/// The final value of the convergence criteria.
double convergenceCriteria;
/// The initial value of the convergence criteria, before the solver has done anything.
double initialConvergenceCriteria;
/// The final value of the convergence criteria for each of the constraint types.
double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES];
/// The initial value of the convergence criteria for each of the constraint types.
double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES];
// NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment,
// because we currently sometimes need to copy the solution (although we ought to minimize this).
// The C++11-ish way to indicate that explicitly would be to write code like this:
// MlcpProblem() = default;
// MlcpProblem(const MlcpProblem& other) = default;
// MlcpProblem& operator= (const MlcpProblem& other) = default;
// but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment.
// We may also want to add move construction and move assignment. --advornik 2013-06-24
};
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_MLCPSOLUTION_H
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