DART  6.10.1
dart::lcpsolver::ODELCPSolver Class Reference

#include <ODELCPSolver.hpp>

Public Member Functions

 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 Member Functions

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)
 

Constructor & Destructor Documentation

◆ ODELCPSolver()

dart::lcpsolver::ODELCPSolver::ODELCPSolver ( )

◆ ~ODELCPSolver()

dart::lcpsolver::ODELCPSolver::~ODELCPSolver ( )
virtual

Member Function Documentation

◆ checkIfSolution()

bool dart::lcpsolver::ODELCPSolver::checkIfSolution ( const Eigen::MatrixXd &  _A,
const Eigen::VectorXd &  _b,
const Eigen::VectorXd &  _x 
)
private

◆ Solve()

bool dart::lcpsolver::ODELCPSolver::Solve ( const Eigen::MatrixXd &  _A,
const Eigen::VectorXd &  _b,
Eigen::VectorXd *  _x,
int  numContacts,
double  mu = 0,
int  numDir = 0,
bool  bUseODESolver = false 
)

◆ transferSolFromODEFormulation()

void dart::lcpsolver::ODELCPSolver::transferSolFromODEFormulation ( const Eigen::VectorXd &  _x,
Eigen::VectorXd *  _xOut,
int  _numDir,
int  _numContacts 
)
private

◆ transferToODEFormulation()

void dart::lcpsolver::ODELCPSolver::transferToODEFormulation ( const Eigen::MatrixXd &  _A,
const Eigen::VectorXd &  _b,
Eigen::MatrixXd *  _AOut,
Eigen::VectorXd *  _bOut,
int  _numDir,
int  _numContacts 
)
private