klampt.math.rootfind module

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

klampt.math.rootfind.setFTolerance(tolf)

Sets the termination threshold for the change in f.

Return type:

None

Parameters:

tolf (float) –

klampt.math.rootfind.setXTolerance(tolx)

Sets the termination threshold for the change in x.

Return type:

None

Parameters:

tolx (float) –

klampt.math.rootfind.setVectorField(pVFObj)

Sets the vector field object.

Return type:

int

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.findRoots(startVals, iter)

Performs unconstrained root finding for up to iter iterations

Return type:

object

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)

Return type:

object

Parameters:

• startVals (object) –

• boundVals (object) –

• iter (int) –

klampt.math.rootfind.destroy()

destroys internal data structures

Return type:

None