33 #ifndef DART_CONSTRAINT_PGSLCPSOLVER_HPP_
34 #define DART_CONSTRAINT_PGSLCPSOLVER_HPP_
38 #include "dart/config.hpp"
42 namespace constraint {
67 std::size_t _n,
double* _A, std::size_t _begin, std::size_t _end);
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:157
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Definition: LCPSolver.hpp:45
Definition: PGSLCPSolver.hpp:49
PGSLCPSolver(double _timestep)
Constructor.
Definition: PGSLCPSolver.cpp:51
void solve(ConstrainedGroup *_group) override
Solve constriant impulses for a constrained group.
Definition: PGSLCPSolver.cpp:61
void print(std::size_t _n, double *_A, double *_x, double *_lo, double *_hi, double *_b, double *w, int *_findex)
Print debug information.
Definition: PGSLCPSolver.cpp:259
virtual ~PGSLCPSolver()
Constructor.
Definition: PGSLCPSolver.cpp:56
bool isSymmetric(std::size_t _n, double *_A)
Return true if the matrix is symmetric.
Definition: PGSLCPSolver.cpp:194
bool solvePGS(int n, int nskip, int, double *A, double *x, double *b, double *lo, double *hi, int *findex, PGSOption *option)
Definition: PGSLCPSolver.cpp:355
Definition: BulletCollisionDetector.cpp:65
Definition: PGSLCPSolver.hpp:83
int itermax
Definition: PGSLCPSolver.hpp:84
void setDefault()
Definition: PGSLCPSolver.cpp:533
double eps_div
Definition: PGSLCPSolver.hpp:88
double sor_w
Definition: PGSLCPSolver.hpp:85
double eps_res
Definition: PGSLCPSolver.hpp:87
double eps_ea
Definition: PGSLCPSolver.hpp:86