DART  6.10.1
DantzigLCPSolver.hpp
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32 
33 #ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
34 #define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
35 
36 #include <cstddef>
37 
38 #include "dart/config.hpp"
40 
41 namespace dart {
42 namespace constraint {
43 
50 {
51 public:
53  explicit DantzigLCPSolver(double _timestep);
54 
56  virtual ~DantzigLCPSolver();
57 
58  // Documentation inherited
59  void solve(ConstrainedGroup* _group) override;
60 
61 #ifndef NDEBUG
62 private:
64  bool isSymmetric(std::size_t _n, double* _A);
65 
67  bool isSymmetric(
68  std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);
69 
71  void print(
72  std::size_t _n,
73  double* _A,
74  double* _x,
75  double* _lo,
76  double* _hi,
77  double* _b,
78  double* w,
79  int* _findex);
80 #endif
81 };
82 
83 } // namespace constraint
84 } // namespace dart
85 
86 #endif // DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Definition: DantzigLCPSolver.hpp:50
virtual ~DantzigLCPSolver()
Constructor.
Definition: DantzigLCPSolver.cpp:57
DantzigLCPSolver(double _timestep)
Constructor.
Definition: DantzigLCPSolver.cpp:51
void solve(ConstrainedGroup *_group) override
Solve constriant impulses for a constrained group.
Definition: DantzigLCPSolver.cpp:63
void print(std::size_t _n, double *_A, double *_x, double *_lo, double *_hi, double *_b, double *w, int *_findex)
Print debug information.
Definition: DantzigLCPSolver.cpp:260
bool isSymmetric(std::size_t _n, double *_A)
Return true if the matrix is symmetric.
Definition: DantzigLCPSolver.cpp:195
Definition: LCPSolver.hpp:45
Definition: BulletCollisionDetector.cpp:65