DART
6.10.1
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#include <LCPSolver.hpp>
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... | |
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virtual |
Destructor.
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protected |
Constructor.
double dart::constraint::LCPSolver::getTimeStep | ( | ) | const |
Return time step.
void dart::constraint::LCPSolver::setTimeStep | ( | double | _timeStep | ) |
Set time step.
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pure virtual |
Solve constriant impulses for a constrained group.
Implemented in dart::constraint::PGSLCPSolver, and dart::constraint::DantzigLCPSolver.
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protected |
Simulation time step.