DART  6.10.1
PgsBoxedLcpSolver.hpp
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32 
33 #ifndef DART_CONSTRAINT_PGSBOXEDLCPSOLVER_HPP_
34 #define DART_CONSTRAINT_PGSBOXEDLCPSOLVER_HPP_
35 
36 #include <vector>
38 
39 namespace dart {
40 namespace constraint {
41 
44 {
45 public:
46  struct Option
47  {
53 
54  Option(
55  int maxIteration = 30,
56  double deltaXTolerance = 1e-6,
57  double relativeDeltaXTolerance = 1e-3,
58  double epsilonForDivision = 1e-9,
59  bool randomizeConstraintOrder = false);
60  };
61 
62  // Documentation inherited.
63  const std::string& getType() const override;
64 
66  static const std::string& getStaticType();
67 
68  // Documentation inherited.
69  bool solve(
70  int n,
71  double* A,
72  double* x,
73  double* b,
74  int nub,
75  double* lo,
76  double* hi,
77  int* findex,
78  bool earlyTermination) override;
79 
80 #ifndef NDEBUG
81  // Documentation inherited.
82  bool canSolve(int n, const double* A) override;
83 #endif
84 
86  void setOption(const Option& option);
87 
89  const Option& getOption() const;
90 
91 protected:
93 
94  mutable std::vector<int> mCacheOrder;
95  mutable std::vector<double> mCacheD;
96  mutable Eigen::VectorXd mCachedNormalizedA;
97  mutable Eigen::MatrixXd mCachedNormalizedB;
98  mutable Eigen::VectorXd mCacheZ;
99  mutable Eigen::VectorXd mCacheOldX;
100 };
101 
102 } // namespace constraint
103 } // namespace dart
104 
105 #endif // DART_CONSTRAINT_PGSBOXEDLCPSOLVER_HPP_
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:157
Definition: BoxedLcpSolver.hpp:43
Implementation of projected Gauss-Seidel (PGS) LCP solver.
Definition: PgsBoxedLcpSolver.hpp:44
Option mOption
Definition: PgsBoxedLcpSolver.hpp:92
const Option & getOption() const
Returns options.
Definition: PgsBoxedLcpSolver.cpp:277
const std::string & getType() const override
Returns the type.
Definition: PgsBoxedLcpSolver.cpp:64
Eigen::VectorXd mCacheZ
Definition: PgsBoxedLcpSolver.hpp:98
static const std::string & getStaticType()
Returns type for this class.
Definition: PgsBoxedLcpSolver.cpp:70
bool canSolve(int n, const double *A) override
Definition: PgsBoxedLcpSolver.cpp:249
std::vector< int > mCacheOrder
Definition: PgsBoxedLcpSolver.hpp:94
Eigen::VectorXd mCacheOldX
Definition: PgsBoxedLcpSolver.hpp:99
bool solve(int n, double *A, double *x, double *b, int nub, double *lo, double *hi, int *findex, bool earlyTermination) override
Solves constriant impulses for a constrained group.
Definition: PgsBoxedLcpSolver.cpp:77
void setOption(const Option &option)
Sets options.
Definition: PgsBoxedLcpSolver.cpp:271
Eigen::VectorXd mCachedNormalizedA
Definition: PgsBoxedLcpSolver.hpp:96
Eigen::MatrixXd mCachedNormalizedB
Definition: PgsBoxedLcpSolver.hpp:97
std::vector< double > mCacheD
Definition: PgsBoxedLcpSolver.hpp:95
Definition: BulletCollisionDetector.cpp:65
Definition: PgsBoxedLcpSolver.hpp:47
double mDeltaXThreshold
Definition: PgsBoxedLcpSolver.hpp:49
double mEpsilonForDivision
Definition: PgsBoxedLcpSolver.hpp:51
int mMaxIteration
Definition: PgsBoxedLcpSolver.hpp:48
double mRelativeDeltaXTolerance
Definition: PgsBoxedLcpSolver.hpp:50
bool mRandomizeConstraintOrder
Definition: PgsBoxedLcpSolver.hpp:52
Option(int maxIteration=30, double deltaXTolerance=1e-6, double relativeDeltaXTolerance=1e-3, double epsilonForDivision=1e-9, bool randomizeConstraintOrder=false)
Definition: PgsBoxedLcpSolver.cpp:48