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40 lines
1.6 KiB
40 lines
1.6 KiB
3 years ago
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#pragma once
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#include <limits>
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namespace ccd {
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namespace Constants {
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// ------------------------------------------------------------------------
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// Nonlinear Complementarity Problem
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// ------------------------------------------------------------------------
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/// \brief Number of iterations to take before falling back to normal
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/// direction.
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static const int NCP_FALLBACK_ITERATIONS = 20;
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/// \brief Abolute tolerance on the STIV constraints
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/// \f$(g(x) ≥ -\epsilon_\text{abs})\f$.
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static const double NCP_ABS_TOL = 1e-12;
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// ------------------------------------------------------------------------
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// Fischer-Newton LCP Solver
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// ------------------------------------------------------------------------
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/// \brief Relative error tolerance for minimizing the Fischer error.
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static const double FISCHER_REL_TOL = 1e-5;
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/// \brief Absolute error tolerance for minimizing the Fischer error.
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static const double FISCHER_ABS_TOL = 1e-28;
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/// \brief Perturbation values used to fix near singular points in
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/// derivative.
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static const double FISCHER_SINGULAR_TOL = 1e-28;
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/// \brief Maximum number of iterations to take while minimizing the Fischer
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/// error.
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static const int FISCHER_MAX_ITER = 3000;
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// ------------------------------------------------------------------------
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// Guass-Seidel LCP Solver
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// ------------------------------------------------------------------------
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/// \brief Maximum number of iterations to take during Guass-Seidel.
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static const int GUASS_SEIDEL_MAX_ITER = 10000;
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} // namespace Constants
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} // namespace ccd
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