33 #ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
34 #define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
38 #include "dart/config.hpp"
42 namespace constraint {
68 std::size_t _n,
double* _A, std::size_t _begin, std::size_t _end);
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