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

system	the system whose energy should be minimized
state	on 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.
tolerance	a 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: