#include <ODELCPSolver.hpp>
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void | transferToODEFormulation (const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, Eigen::MatrixXd *_AOut, Eigen::VectorXd *_bOut, int _numDir, int _numContacts) |
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void | transferSolFromODEFormulation (const Eigen::VectorXd &_x, Eigen::VectorXd *_xOut, int _numDir, int _numContacts) |
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bool | checkIfSolution (const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, const Eigen::VectorXd &_x) |
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◆ ODELCPSolver()
dart::lcpsolver::ODELCPSolver::ODELCPSolver |
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◆ ~ODELCPSolver()
dart::lcpsolver::ODELCPSolver::~ODELCPSolver |
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◆ checkIfSolution()
bool dart::lcpsolver::ODELCPSolver::checkIfSolution |
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const Eigen::MatrixXd & |
_A, |
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const Eigen::VectorXd & |
_b, |
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const Eigen::VectorXd & |
_x |
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◆ Solve()
bool dart::lcpsolver::ODELCPSolver::Solve |
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const Eigen::MatrixXd & |
_A, |
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const Eigen::VectorXd & |
_b, |
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Eigen::VectorXd * |
_x, |
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int |
numContacts, |
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double |
mu = 0 , |
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int |
numDir = 0 , |
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bool |
bUseODESolver = false |
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◆ transferSolFromODEFormulation()
void dart::lcpsolver::ODELCPSolver::transferSolFromODEFormulation |
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const Eigen::VectorXd & |
_x, |
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Eigen::VectorXd * |
_xOut, |
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int |
_numDir, |
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int |
_numContacts |
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◆ transferToODEFormulation()
void dart::lcpsolver::ODELCPSolver::transferToODEFormulation |
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const Eigen::MatrixXd & |
_A, |
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const Eigen::VectorXd & |
_b, |
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Eigen::MatrixXd * |
_AOut, |
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Eigen::VectorXd * |
_bOut, |
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int |
_numDir, |
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int |
_numContacts |
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private |