[Experimental] Controls whether force-saturation terms use a fitted quadratic Hessian independently for each saturation pathway. More...

#include <eval_params.h>

Public Member Functions
constexpr bool	AllTrue () const
	Returns true iff all three flags are true.
bool	operator== (SaturationHessianParams const &) const =default

Static Public Member Functions
static constexpr SaturationHessianParams	All (bool value)
	Construct with all three flags set to value.

Public Attributes
bool	constraintSaturation = true
	Use fitted Hessian for constraint saturation.
bool	contactFriction = true
	Use fitted Hessian for contact-friction saturation.
bool	jointFriction = false
	Use fitted Hessian for joint-friction saturation.

Detailed Description

[Experimental] Controls whether force-saturation terms use a fitted quadratic Hessian independently for each saturation pathway.

For each flag, true selects the fitted Hessian, which is more stable. false selects the exact analytical Hessian, which may converge faster but is less stable.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Note: When a flag is false, the solver will try first with the true Hessian for that pathway. If the Newton iteration fails to improve, all flags are set to true and the iteration is retried with fitted Hessians for all pathways.

Definition at line 40 of file eval_params.h.

Member Function Documentation

◆ All()

SaturationHessianParams superdex::SaturationHessianParams::All ( bool value )

staticconstexpr

Construct with all three flags set to value.

Definition at line 24 of file eval_params_inl.h.

◆ AllTrue()

bool superdex::SaturationHessianParams::AllTrue ( ) const

nodiscardconstexpr

Returns true iff all three flags are true.

Definition at line 28 of file eval_params_inl.h.

◆ operator==()

bool superdex::SaturationHessianParams::operator== ( SaturationHessianParams const & ) const

default

Member Data Documentation

◆ constraintSaturation

bool superdex::SaturationHessianParams::constraintSaturation = true

Use fitted Hessian for constraint saturation.

Definition at line 46 of file eval_params.h.

◆ contactFriction

bool superdex::SaturationHessianParams::contactFriction = true

Use fitted Hessian for contact-friction saturation.

Definition at line 42 of file eval_params.h.

◆ jointFriction

bool superdex::SaturationHessianParams::jointFriction = false

Use fitted Hessian for joint-friction saturation.

Definition at line 44 of file eval_params.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes