pbat::sim::algorithm::newton::Config Struct Reference

Newton integrator configuration. More...

#include <Config.h>

Public Member Functions
Config &	WithSubsteps (int substeps)
	Set the number of substeps for the Newton integrator.
Config &	WithConvergence (int maxAugmentedLagrangianIterations, int maxNewtonIterations, Scalar gtol, int maxLinearSolverIterations, Scalar rtol)
	Set the convergence parameters for the Newton integrator.
Config &	WithLineSearch (int maxLineSearchIterations, Scalar tauArmijo, Scalar cArmijo)
	Set the line search parameters for the Newton integrator.
Config &	WithContactParameters (Scalar muC)
	Set the contact parameters for the Newton integrator.
Config &	Construct ()
	Finalize construction of the configuration.
void	Serialize (io::Archive &archive) const
	Serialize to HDF5 group.
void	Deserialize (io::Archive const &archive)
	Deserialize from HDF5 group.

Public Attributes
int	nSubsteps {1}
	Number of substeps for the Newton integrator.
int	nMaxAugmentedLagrangianIterations
	Number of dual iterations for the augmented Lagrangian method.
int	nMaxNewtonIterations {10}
	Maximum number of iterations for the Newton integrator.
Scalar	gtol {1e-4}
	Gradient norm threshold for convergence.
int	nMaxLinearSolverIterations {150}
	Maximum number of iterations for the linear solver.
Scalar	rtol {1e-6}
	Relative tolerance for the linear solver.
int	nMaxLineSearchIterations {20}
	Maximum number of iterations for the line search.
Scalar	tauArmijo {0.5}
	Armijo step size decrease factor.
Scalar	cArmijo {1e-4}
	Armijo slope scale.
Scalar	muC {1e6}
	Uniform collision penalty.

Detailed Description

Newton integrator configuration.

Member Function Documentation

Construct()

Config & pbat::sim::algorithm::newton::Config::Construct

(

)

Finalize construction of the configuration.

Returns

Config object

Exceptions

std::invalid_argument

if any parameter is invalid

Deserialize()

void pbat::sim::algorithm::newton::Config::Deserialize

(

io::Archive const &

archive

)

Deserialize from HDF5 group.

Parameters

archive

Archive to deserialize from

Serialize()

void pbat::sim::algorithm::newton::Config::Serialize

(

io::Archive &

archive

)

const

Serialize to HDF5 group.

Parameters

archive

Archive to serialize to

WithContactParameters()

Config & pbat::sim::algorithm::newton::Config::WithContactParameters

(

Scalar

muC

)

Set the contact parameters for the Newton integrator.

Parameters

muC	Uniform collision penalty

Returns

Reference to this configuration

WithConvergence()

Config & pbat::sim::algorithm::newton::Config::WithConvergence	(	int	maxAugmentedLagrangianIterations,
		int	maxNewtonIterations,
		Scalar	gtol,
		int	maxLinearSolverIterations,
		Scalar	rtol )

Set the convergence parameters for the Newton integrator.

Parameters

maxAugmentedLagrangianIterations	Maximum number of dual iterations for the augmented
maxNewtonIterations	Maximum number of iterations for the Newton integrator
gtol	Gradient norm threshold for convergence
maxLinearSolverIterations	Maximum number of iterations for the linear solver
rtol	Relative tolerance for the linear solver

Returns

Reference to this configuration

WithLineSearch()

Config & pbat::sim::algorithm::newton::Config::WithLineSearch	(	int	maxLineSearchIterations,
		Scalar	tauArmijo,
		Scalar	cArmijo )

Set the line search parameters for the Newton integrator.

Parameters

maxLineSearchIterations	Maximum number of iterations for the line search
tauArmijo	Armijo step size decrease factor
cArmijo	Armijo slope scale

Returns

Reference to this configuration

WithSubsteps()

Config & pbat::sim::algorithm::newton::Config::WithSubsteps

(

int

substeps

)

Set the number of substeps for the Newton integrator.

Parameters

substeps

Number of substeps

Returns

Reference to this configuration

Member Data Documentation

nMaxAugmentedLagrangianIterations

int pbat::sim::algorithm::newton::Config::nMaxAugmentedLagrangianIterations

Initial value:

{
        1}

Number of dual iterations for the augmented Lagrangian method.

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

• C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/algorithm/newton/Config.h
• C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/algorithm/newton/Config.cpp