Simbody  3.5
SimTK::LocalEnergyMinimizer Class Reference

This class performs local potential energy minimization of a MultibodySystem. More...

Static Public Member Functions

static void minimizeEnergy (const MultibodySystem &system, State &state, Real tolerance)
 Find the local potential energy minimum of a MultibodySystem. More...
 

Detailed Description

This class performs local potential energy minimization of a MultibodySystem.

Only positions (generalized coordinates q) are changed; velocities are ignored.

Member Function Documentation

static void SimTK::LocalEnergyMinimizer::minimizeEnergy ( const MultibodySystem system,
State state,
Real  tolerance 
)
static

Find the local potential energy minimum of a MultibodySystem.

Parameters
systemthe system whose energy should be minimized
stateon entry, this should contain the starting state from which to begin the search. On exit, it contains a (usually nearby) state with revised generalized coordinate values q at which the energy is a local minimum.
tolerancea tolerance for the energy minimization. The search ends when no component of the energy gradient is larger than this.

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