dart::constraint::DantzigLCPSolver Class Reference

#include <DantzigLCPSolver.hpp>

Inheritance diagram for dart::constraint::DantzigLCPSolver:

Public Member Functions
	DantzigLCPSolver (double _timestep)
	Constructor.
virtual	~DantzigLCPSolver ()
	Constructor.
void	solve (ConstrainedGroup *_group) override
	Solve constriant impulses for a constrained group.
void	setTimeStep (double _timeStep)
	Set time step.
double	getTimeStep () const
	Return time step.

Protected Attributes
double	mTimeStep
	Simulation time step.

Private Member Functions
bool	isSymmetric (std::size_t _n, double *_A)
	Return true if the matrix is symmetric.
bool	isSymmetric (std::size_t _n, double *_A, std::size_t _begin, std::size_t _end)
	Return true if the diagonla block of matrix is symmetric.
void	print (std::size_t _n, double *_A, double *_x, double *_lo, double *_hi, double *_b, double *w, int *_findex)
	Print debug information.

Detailed Description

Deprecated:

This header has been deprecated in DART 6.7. Please include DantzigBoxedLcpSolver.hpp intead.

DantzigLCPSolver is a LCP solver that uses ODE's implementation of Dantzig algorithm

Constructor & Destructor Documentation

DantzigLCPSolver()

dart::constraint::DantzigLCPSolver::DantzigLCPSolver ( double  _timestep )

explicit

Constructor.

~DantzigLCPSolver()

dart::constraint::DantzigLCPSolver::~DantzigLCPSolver ( )

virtual

Constructor.

Member Function Documentation

getTimeStep()

double dart::constraint::LCPSolver::getTimeStep ( ) const

inherited

Return time step.

isSymmetric() [1/2]

bool dart::constraint::DantzigLCPSolver::isSymmetric ( std::size_t  _n, double *  _A  )

private

Return true if the matrix is symmetric.

isSymmetric() [2/2]

bool dart::constraint::DantzigLCPSolver::isSymmetric ( std::size_t  _n, double *  _A, std::size_t  _begin, std::size_t  _end  )

private

Return true if the diagonla block of matrix is symmetric.

print()

void dart::constraint::DantzigLCPSolver::print ( std::size_t  _n, double *  _A, double *  _x, double *  _lo, double *  _hi, double *  _b, double *  w, int *  _findex  )

private

Print debug information.

setTimeStep()

void dart::constraint::LCPSolver::setTimeStep ( double  _timeStep )

inherited

Set time step.

solve()

void dart::constraint::DantzigLCPSolver::solve ( ConstrainedGroup *  _group )

overridevirtual

Solve constriant impulses for a constrained group.

Implements dart::constraint::LCPSolver.

Member Data Documentation

mTimeStep

double dart::constraint::LCPSolver::mTimeStep

protectedinherited

Simulation time step.