BoxedLcpConstraintSolver.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_
#define DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_
 
#include "dart/constraint/ConstraintSolver.hpp"
#include "dart/constraint/SmartPointer.hpp"
 
namespace dart {
namespace constraint {
 
class BoxedLcpConstraintSolver : public ConstraintSolver
{
public:
  DART_DEPRECATED(6.8)
  BoxedLcpConstraintSolver(
      double timeStep,
      BoxedLcpSolverPtr boxedLcpSolver = nullptr,
      BoxedLcpSolverPtr secondaryBoxedLcpSolver = nullptr);
 
  BoxedLcpConstraintSolver();
 
  BoxedLcpConstraintSolver(BoxedLcpSolverPtr boxedLcpSolver);
 
  BoxedLcpConstraintSolver(
      BoxedLcpSolverPtr boxedLcpSolver,
      BoxedLcpSolverPtr secondaryBoxedLcpSolver);
 
  void setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
 
  ConstBoxedLcpSolverPtr getBoxedLcpSolver() const;
 
  void setSecondaryBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
 
  ConstBoxedLcpSolverPtr getSecondaryBoxedLcpSolver() const;
 
protected:
  // Documentation inherited.
  void solveConstrainedGroup(ConstrainedGroup& group) override;
 
  BoxedLcpSolverPtr mBoxedLcpSolver;
  // TODO(JS): Hold as unique_ptr because there is no reason to share. Make this
  // change in DART 7 because it's API breaking change.
 
  BoxedLcpSolverPtr mSecondaryBoxedLcpSolver;
  // TODO(JS): Hold as unique_ptr because there is no reason to share. Make this
  // change in DART 7 because it's API breaking change.
 
  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> mA;
 
  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
      mABackup;
 
  Eigen::VectorXd mX;
 
  Eigen::VectorXd mXBackup;
 
  Eigen::VectorXd mB;
 
  Eigen::VectorXd mBBackup;
 
  Eigen::VectorXd mW;
 
  Eigen::VectorXd mLo;
 
  Eigen::VectorXd mLoBackup;
 
  Eigen::VectorXd mHi;
 
  Eigen::VectorXd mHiBackup;
 
  Eigen::VectorXi mFIndex;
 
  Eigen::VectorXi mFIndexBackup;
 
  Eigen::VectorXi mOffset;
 
#ifndef NDEBUG
private:
  bool isSymmetric(std::size_t n, double* A);
 
  bool isSymmetric(
      std::size_t n, double* A, std::size_t begin, std::size_t end);
 
  void print(
      std::size_t n,
      double* A,
      double* x,
      double* lo,
      double* hi,
      double* b,
      double* w,
      int* findex);
#endif
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_