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) –