dart::constraint::BoxedLcpSolver Class Reference

#include <BoxedLcpSolver.hpp>

Inheritance diagram for dart::constraint::BoxedLcpSolver:

Public Member Functions
virtual	~BoxedLcpSolver ()=default
	Destructor. More...
virtual const std::string &	getType () const =0
	Returns the type. More...
template<typename BoxedLcpSolverT >
bool	is () const
	Returns true if this solver and the template parameter (a solver class) are the same type. More...
virtual bool	solve (int n, double *A, double *x, double *b, int nub, double *lo, double *hi, int *findex, bool earlyTermination=false)=0
	Solves constriant impulses for a constrained group. More...
virtual bool	canSolve (int n, const double *A)=0

Constructor & Destructor Documentation

~BoxedLcpSolver()

virtual dart::constraint::BoxedLcpSolver::~BoxedLcpSolver ( )

virtualdefault

Destructor.

Member Function Documentation

canSolve()

virtual bool dart::constraint::BoxedLcpSolver::canSolve ( int  n, const double *  A  )

pure virtual

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.

getType()

virtual const std::string& dart::constraint::BoxedLcpSolver::getType ( ) const

pure virtual

Returns the type.

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.

is()

template<typename BoxedLcpSolverT >

bool dart::constraint::BoxedLcpSolver::is

Returns true if this solver and the template parameter (a solver class) are the same type.

This function is a syntactic sugar, which is identical to:

getType() == BoxedLcpSolver::getStaticType() 

.

Example code:

auto lcpSolver = constraintSolver->getBoxedLcpSolver();
if (shape->is<DantzigBoxedLcpSolver>())
  std::cout << "The LCP solver type is Dantzig!\n";

See also

getType()

solve()

virtual bool dart::constraint::BoxedLcpSolver::solve ( int  n, double *  A, double *  x, double *  b, int  nub, double *  lo, double *  hi, int *  findex, bool  earlyTermination = false  )

pure virtual

Solves constriant impulses for a constrained group.

The LCP formulation setting that this function solve is A*x = b + w where each x[i], w[i] satisfies one of (1) x = lo, w >= 0 (2) x = hi, w <= 0 (3) lo < x < hi, w = 0

Parameters

[in]	n	Dimension of constraints.
[in]	A	A term of the LCP formulation.
[in]	x	x term of the LCP formulation.
[in]	b	b term of the LCP formulation.
[in]	nub	Number of the first unbounded constraints.
[in]	lo	Lower bound of x where it's restricted to be lo <= 0.
[in]	hi	Upper bound of x where it's enforced to be hi >= 0.
[in]	findex	Indices to corresponding normal contact constraint. Set the index to itself (e.g., findex[k] = k) for normal contacts or non-contact constraints. For friction constraint, set the cooresponding normal contact constraint.
[in]	earlyTermination	Set true to return false as soon as the solver find the solution doesn't exist. Otherwise, the solver will continue to push hard to solve the problem using some hacks.

Returns

Success.

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.