DART  6.10.1
ODELCPSolver.hpp
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32 
33 #ifndef DART_LCPSOLVER_ODELCPSOLVER_HPP_
34 #define DART_LCPSOLVER_ODELCPSOLVER_HPP_
35 
36 #include <Eigen/Dense>
37 
38 namespace dart {
39 namespace lcpsolver {
40 
43 {
44 public:
46  ODELCPSolver();
47 
49  virtual ~ODELCPSolver();
50 
52  bool Solve(
53  const Eigen::MatrixXd& _A,
54  const Eigen::VectorXd& _b,
55  Eigen::VectorXd* _x,
56  int numContacts,
57  double mu = 0,
58  int numDir = 0,
59  bool bUseODESolver = false);
60 
61 private:
64  const Eigen::MatrixXd& _A,
65  const Eigen::VectorXd& _b,
66  Eigen::MatrixXd* _AOut,
67  Eigen::VectorXd* _bOut,
68  int _numDir,
69  int _numContacts);
70 
73  const Eigen::VectorXd& _x,
74  Eigen::VectorXd* _xOut,
75  int _numDir,
76  int _numContacts);
77 
79  bool checkIfSolution(
80  const Eigen::MatrixXd& _A,
81  const Eigen::VectorXd& _b,
82  const Eigen::VectorXd& _x);
83 };
84 
85 } // namespace lcpsolver
86 } // namespace dart
87 
88 #endif // DART_LCPSOLVER_ODELCPSOLVER_HPP_
std::size_t numContacts
The total number of contacts collected by dSpaceCollide() or dSpaceCollide2().
Definition: OdeCollisionDetector.cpp:89
Definition: ODELCPSolver.hpp:43
bool checkIfSolution(const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, const Eigen::VectorXd &_x)
Definition: ODELCPSolver.cpp:221
void transferSolFromODEFormulation(const Eigen::VectorXd &_x, Eigen::VectorXd *_xOut, int _numDir, int _numContacts)
Definition: ODELCPSolver.cpp:197
void transferToODEFormulation(const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, Eigen::MatrixXd *_AOut, Eigen::VectorXd *_bOut, int _numDir, int _numContacts)
Definition: ODELCPSolver.cpp:150
bool Solve(const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, Eigen::VectorXd *_x, int numContacts, double mu=0, int numDir=0, bool bUseODESolver=false)
Definition: ODELCPSolver.cpp:59
ODELCPSolver()
Definition: ODELCPSolver.cpp:47
virtual ~ODELCPSolver()
Definition: ODELCPSolver.cpp:53
Definition: BulletCollisionDetector.cpp:65