klampt.math.rootfind module

Python interface to C++ nonlinear, multidimensional root finding routines

klampt.math.rootfind.destroy()

destroys internal data structures

klampt.math.rootfind.findRoots(startVals, iter)

Performs unconstrained root finding for up to iter iterations

Parameters

• startVals (object) –

• iter (int) –

Returns

where status indicates

the return code, as follows:

• 0: convergence reached in x

• 1: convergence reached in f

• 2: divergence

• 3: degeneration of gradient (local extremum or saddle point)

• 4: maximum iterations reached

• 5: numerical error occurred

and x is the final point and n is the number of iterations used

Return type

status,x,n (tuple of int, list of floats, int)

klampt.math.rootfind.findRootsBounded(startVals, boundVals, iter)

Same as findRoots, but with given bounds (xmin,xmax)

Parameters

• startVals (object) –

• boundVals (object) –

• iter (int) –

Returns

Return type

object

klampt.math.rootfind.setFTolerance(tolf)

Sets the termination threshold for the change in f.

Parameters

tolf (float) –

klampt.math.rootfind.setVectorField(pVFObj)

Sets the vector field object.

Parameters

pVFObj (object) –

Returns

0 if pVFObj = NULL, 1 otherwise.

Return type

status (int)

See vectorfield.py for an abstract base class that can be overridden to produce one of these objects.

klampt.math.rootfind.setXTolerance(tolx)

Sets the termination threshold for the change in x.

Parameters

tolx (float) –