DART  6.10.1
dart::constraint::LCPSolver Class Referenceabstract

#include <LCPSolver.hpp>

Inheritance diagram for dart::constraint::LCPSolver:
dart::constraint::DantzigLCPSolver dart::constraint::PGSLCPSolver

Public Member Functions

virtual void solve (ConstrainedGroup *_group)=0
 Solve constriant impulses for a constrained group. More...
 
void setTimeStep (double _timeStep)
 Set time step. More...
 
double getTimeStep () const
 Return time step. More...
 
virtual ~LCPSolver ()
 Destructor. More...
 

Protected Member Functions

 LCPSolver (double _timeStep)
 Constructor. More...
 

Protected Attributes

double mTimeStep
 Simulation time step. More...
 

Detailed Description

Deprecated:
This header has been deprecated in DART 6.7.

LCPSolver

Constructor & Destructor Documentation

◆ ~LCPSolver()

dart::constraint::LCPSolver::~LCPSolver ( )
virtual

Destructor.

◆ LCPSolver()

dart::constraint::LCPSolver::LCPSolver ( double  _timeStep)
protected

Constructor.

Member Function Documentation

◆ getTimeStep()

double dart::constraint::LCPSolver::getTimeStep ( ) const

Return time step.

◆ setTimeStep()

void dart::constraint::LCPSolver::setTimeStep ( double  _timeStep)

Set time step.

◆ solve()

virtual void dart::constraint::LCPSolver::solve ( ConstrainedGroup _group)
pure virtual

Solve constriant impulses for a constrained group.

Implemented in dart::constraint::PGSLCPSolver, and dart::constraint::DantzigLCPSolver.

Member Data Documentation

◆ mTimeStep

double dart::constraint::LCPSolver::mTimeStep
protected

Simulation time step.