Lemke.hpp

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#ifndef DART_LCPSOLVER_LEMKE_HPP_
#define DART_LCPSOLVER_LEMKE_HPP_
 
#include <Eigen/Dense>
 
namespace dart {
namespace lcpsolver {
 
int Lemke(
    const Eigen::MatrixXd& _M, const Eigen::VectorXd& _q, Eigen::VectorXd* _z);
 
bool validate(
    const Eigen::MatrixXd& _M,
    const Eigen::VectorXd& _z,
    const Eigen::VectorXd& _q);
 
} // namespace lcpsolver
} // namespace dart
 
#endif // DART_LCPSOLVER_LEMKE_HPP_