ODELCPSolver.hpp

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#ifndef DART_LCPSOLVER_ODELCPSOLVER_HPP_
#define DART_LCPSOLVER_ODELCPSOLVER_HPP_
 
#include <Eigen/Dense>
 
namespace dart {
namespace lcpsolver {
 
class ODELCPSolver
{
public:
  ODELCPSolver();
 
  virtual ~ODELCPSolver();
 
  bool Solve(
      const Eigen::MatrixXd& _A,
      const Eigen::VectorXd& _b,
      Eigen::VectorXd* _x,
      int numContacts,
      double mu = 0,
      int numDir = 0,
      bool bUseODESolver = false);
 
private:
  void transferToODEFormulation(
      const Eigen::MatrixXd& _A,
      const Eigen::VectorXd& _b,
      Eigen::MatrixXd* _AOut,
      Eigen::VectorXd* _bOut,
      int _numDir,
      int _numContacts);
 
  void transferSolFromODEFormulation(
      const Eigen::VectorXd& _x,
      Eigen::VectorXd* _xOut,
      int _numDir,
      int _numContacts);
 
  bool checkIfSolution(
      const Eigen::MatrixXd& _A,
      const Eigen::VectorXd& _b,
      const Eigen::VectorXd& _x);
};
 
} // namespace lcpsolver
} // namespace dart
 
#endif // DART_LCPSOLVER_ODELCPSOLVER_HPP_