LCPSolver.hpp

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#ifndef DART_CONSTRAINT_LCPSOLVER_HPP_
#define DART_CONSTRAINT_LCPSOLVER_HPP_
 
namespace dart {
namespace constraint {
 
class ConstrainedGroup;
 
class LCPSolver
{
public:
  virtual void solve(ConstrainedGroup* _group) = 0;
 
  void setTimeStep(double _timeStep);
 
  double getTimeStep() const;
 
  virtual ~LCPSolver();
 
protected:
  LCPSolver(double _timeStep);
 
protected:
  double mTimeStep;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_LCPSOLVER_HPP_