BoxedLcpSolver.hpp

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#ifndef DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_
#define DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_
 
#include <string>
#include <Eigen/Core>
 
namespace dart {
namespace constraint {
 
class BoxedLcpSolver
{
public:
  virtual ~BoxedLcpSolver() = default;
 
  virtual const std::string& getType() const = 0;
 
  template <typename BoxedLcpSolverT>
  bool is() const;
 
  // Note: The function signature is ODE specific for now. Consider changing
  // this to Eigen friendly version once own Dantzig LCP solver is available.
  virtual bool solve(
      int n,
      double* A,
      double* x,
      double* b,
      int nub,
      double* lo,
      double* hi,
      int* findex,
      bool earlyTermination = false)
      = 0;
 
#ifndef NDEBUG
  virtual bool canSolve(int n, const double* A) = 0;
#endif
};
 
} // namespace constraint
} // namespace dart
 
#include "dart/constraint/detail/BoxedLcpSolver-impl.hpp"
 
#endif // DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_