#include <BoxedLcpConstraintSolver.hpp>

Inheritance diagram for dart::constraint::BoxedLcpConstraintSolver:

Public Member Functions
	BoxedLcpConstraintSolver (double timeStep, BoxedLcpSolverPtr boxedLcpSolver=nullptr, BoxedLcpSolverPtr secondaryBoxedLcpSolver=nullptr)
	Constructor.

	BoxedLcpConstraintSolver ()
	Constructos with default primary and secondary LCP solvers, which are Dantzig and PGS, respectively.

	BoxedLcpConstraintSolver (BoxedLcpSolverPtr boxedLcpSolver)
	Constructors with specific primary LCP solver.

	BoxedLcpConstraintSolver (BoxedLcpSolverPtr boxedLcpSolver, BoxedLcpSolverPtr secondaryBoxedLcpSolver)
	Constructs with specific primary and secondary LCP solvers.

void	setBoxedLcpSolver (BoxedLcpSolverPtr lcpSolver)
	Sets boxed LCP (BLCP) solver.

ConstBoxedLcpSolverPtr	getBoxedLcpSolver () const
	Returns boxed LCP (BLCP) solver.

void	setSecondaryBoxedLcpSolver (BoxedLcpSolverPtr lcpSolver)
	Sets boxed LCP (BLCP) solver that is used when the primary solver failed.

ConstBoxedLcpSolverPtr	getSecondaryBoxedLcpSolver () const
	Returns boxed LCP (BLCP) solver that is used when the primary solver failed.

void	addSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add single skeleton.

void	addSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Add mutiple skeletons.

const std::vector< dynamics::SkeletonPtr > &	getSkeletons () const
	Returns all the skeletons added to this ConstraintSolver.

void	removeSkeleton (const dynamics::SkeletonPtr &skeleton)
	Remove single skeleton.

void	removeSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Remove multiple skeletons.

void	removeAllSkeletons ()
	Remove all skeletons in this constraint solver.

void	addConstraint (const ConstraintBasePtr &constraint)
	Add a constraint.

void	removeConstraint (const ConstraintBasePtr &constraint)
	Remove a constraint.

void	removeAllConstraints ()
	Remove all constraints.

std::size_t	getNumConstraints () const
	Returns the number of constraints that was manually added to this ConstraintSolver.

constraint::ConstraintBasePtr	getConstraint (std::size_t index)
	Returns a constraint by index.

constraint::ConstConstraintBasePtr	getConstraint (std::size_t index) const
	Returns a constraint by index.

std::vector< constraint::ConstraintBasePtr >	getConstraints ()
	Returns all the constraints added to this ConstraintSolver.

std::vector< constraint::ConstConstraintBasePtr >	getConstraints () const
	Returns all the constraints added to this ConstraintSolver.

template<typename Func >
void	eachConstraint (Func func) const
	Iterates all the constraints and invokes the callback function.

template<typename Func >
void	eachConstraint (Func func)
	Iterates all the constraints and invokes the callback function.

void	clearLastCollisionResult ()
	Clears the last collision result.

virtual void	setTimeStep (double _timeStep)
	Set time step.

double	getTimeStep () const
	Get time step.

void	setCollisionDetector (collision::CollisionDetector *collisionDetector)
	Set collision detector.

void	setCollisionDetector (const std::shared_ptr< collision::CollisionDetector > &collisionDetector)
	Set collision detector.

collision::CollisionDetectorPtr	getCollisionDetector ()
	Get collision detector.

collision::ConstCollisionDetectorPtr	getCollisionDetector () const
	Get (const) collision detector.

collision::CollisionGroupPtr	getCollisionGroup ()
	Return collision group of collision objects that are added to this ConstraintSolver.

collision::ConstCollisionGroupPtr	getCollisionGroup () const
	Return (const) collision group of collision objects that are added to this ConstraintSolver.

collision::CollisionOption &	getCollisionOption ()
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

const collision::CollisionOption &	getCollisionOption () const
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

collision::CollisionResult &	getLastCollisionResult ()
	Return the last collision checking result.

const collision::CollisionResult &	getLastCollisionResult () const
	Return the last collision checking result.

void	setLCPSolver (std::unique_ptr< LCPSolver > lcpSolver)
	Set LCP solver.

LCPSolver *	getLCPSolver () const
	Get LCP solver.

void	solve ()
	Solve constraint impulses and apply them to the skeletons.

virtual void	setFromOtherConstraintSolver (const ConstraintSolver &other)
	Sets this constraint solver using other constraint solver.

ContactSurfaceHandlerPtr	getLastContactSurfaceHandler () const
	Get the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

void	addContactSurfaceHandler (ContactSurfaceHandlerPtr handler)
	Set the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

bool	removeContactSurfaceHandler (const ContactSurfaceHandlerPtr &handler)
	Remove the given contact surface handler.

Protected Types
using	CollisionDetector = collision::CollisionDetector

Protected Member Functions
void	solveConstrainedGroup (ConstrainedGroup &group) override

bool	containSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Checks if the skeleton is contained in this solver.

bool	hasSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Checks if the skeleton is contained in this solver.

bool	checkAndAddSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add skeleton if the constraint is not contained in this solver.

bool	containConstraint (const ConstConstraintBasePtr &constraint) const
	Check if the constraint is contained in this solver.

bool	checkAndAddConstraint (const ConstraintBasePtr &constraint)
	Add constraint if the constraint is not contained in this solver.

void	updateConstraints ()
	Update constraints.

void	buildConstrainedGroups ()
	Build constrained groupsContact.

void	solveConstrainedGroups ()
	Solve constrained groups.

bool	isSoftContact (const collision::Contact &contact) const
	Return true if at least one of colliding body is soft body.

Protected Attributes
BoxedLcpSolverPtr	mBoxedLcpSolver
	Boxed LCP solver.

BoxedLcpSolverPtr	mSecondaryBoxedLcpSolver
	Boxed LCP solver to be used when the primary solver failed.

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	mA
	Cache data for boxed LCP formulation.

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	mABackup
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mX
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mXBackup
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mB
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mBBackup
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mW
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mLo
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mLoBackup
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mHi
	Cache data for boxed LCP formulation.

Eigen::VectorXd	mHiBackup
	Cache data for boxed LCP formulation.

Eigen::VectorXi	mFIndex
	Cache data for boxed LCP formulation.

Eigen::VectorXi	mFIndexBackup
	Cache data for boxed LCP formulation.

Eigen::VectorXi	mOffset
	Cache data for boxed LCP formulation.

collision::CollisionDetectorPtr	mCollisionDetector
	Collision detector.

collision::CollisionGroupPtr	mCollisionGroup
	Collision group.

collision::CollisionOption	mCollisionOption
	Collision detection option.

collision::CollisionResult	mCollisionResult
	Last collision checking result.

double	mTimeStep
	Time step.

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeleton list.

std::vector< ContactConstraintPtr >	mContactConstraints
	Contact constraints those are automatically created.

std::vector< SoftContactConstraintPtr >	mSoftContactConstraints
	Soft contact constraints those are automatically created.

std::vector< JointConstraintPtr >	mJointConstraints
	Joint limit constraints those are automatically created.

std::vector< MimicMotorConstraintPtr >	mMimicMotorConstraints
	Mimic motor constraints those are automatically created.

std::vector< JointCoulombFrictionConstraintPtr >	mJointCoulombFrictionConstraints
	Joint Coulomb friction constraints those are automatically created.

std::vector< ConstraintBasePtr >	mManualConstraints
	Constraints that manually added.

std::vector< ConstraintBasePtr >	mActiveConstraints
	Active constraints.

std::vector< ConstrainedGroup >	mConstrainedGroups
	Constraint group list.

ContactSurfaceHandlerPtr	mContactSurfaceHandler
	Factory for ContactSurfaceParams for each contact.

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.

Member Typedef Documentation

◆ CollisionDetector

using dart::constraint::ConstraintSolver::CollisionDetector = collision::CollisionDetector

protectedinherited

Constructor & Destructor Documentation

◆ BoxedLcpConstraintSolver() [1/4]

dart::constraint::BoxedLcpConstraintSolver::BoxedLcpConstraintSolver	(	double	timeStep,
		BoxedLcpSolverPtr	boxedLcpSolver = `nullptr`,
		BoxedLcpSolverPtr	secondaryBoxedLcpSolver = `nullptr`
	)

Constructor.

Parameters

[in]	timeStep	Simulation time step
[in]	boxedLcpSolver	The primary boxed LCP solver. When nullptr is passed, Dantzig solver will be used.
[in]	secondaryBoxedLcpSolver	The secondary boxed-LCP solver. When nullptr is passed, PGS solver will be used. This is to make the default solver setting to be Dantzig + PGS. In order to disable use of secondary solver, call setSecondaryBoxedLcpSolver(nullptr) explicitly.

Deprecated:: Deprecated in DART 6.8. Please use other constructors that doesn't take timespte. Timestep should be set by the owner of this solver such as dart::simulation::World when the solver added.

◆ BoxedLcpConstraintSolver() [2/4]

dart::constraint::BoxedLcpConstraintSolver::BoxedLcpConstraintSolver ( )

Constructos with default primary and secondary LCP solvers, which are Dantzig and PGS, respectively.

◆ BoxedLcpConstraintSolver() [3/4]

dart::constraint::BoxedLcpConstraintSolver::BoxedLcpConstraintSolver ( BoxedLcpSolverPtr boxedLcpSolver )

Constructors with specific primary LCP solver.

Parameters

[in] boxedLcpSolver The primary boxed LCP solver. When nullptr is passed, which is discouraged, Dantzig solver will be used.

◆ BoxedLcpConstraintSolver() [4/4]

dart::constraint::BoxedLcpConstraintSolver::BoxedLcpConstraintSolver	(	BoxedLcpSolverPtr	boxedLcpSolver,
		BoxedLcpSolverPtr	secondaryBoxedLcpSolver
	)

Constructs with specific primary and secondary LCP solvers.

Parameters

[in]	boxedLcpSolver	The primary boxed LCP solver. When nullptr is passed, which is discouraged, Dantzig solver will be used.
[in]	secondaryBoxedLcpSolver	The secondary boxed-LCP solver. Pass nullptr to disable using secondary LCP solver.

Member Function Documentation

◆ addConstraint()

void dart::constraint::ConstraintSolver::addConstraint ( const ConstraintBasePtr & constraint )

inherited

Add a constraint.

◆ addContactSurfaceHandler()

void dart::constraint::ConstraintSolver::addContactSurfaceHandler ( ContactSurfaceHandlerPtr handler )

inherited

Set the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

This function automatically sets the previous handler as parent of the given handler.

◆ addSkeleton()

void dart::constraint::ConstraintSolver::addSkeleton ( const dynamics::SkeletonPtr & skeleton )

inherited

Add single skeleton.

◆ addSkeletons()

void dart::constraint::ConstraintSolver::addSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

inherited

Add mutiple skeletons.

◆ buildConstrainedGroups()

void dart::constraint::ConstraintSolver::buildConstrainedGroups ( )

protectedinherited

Build constrained groupsContact.

◆ checkAndAddConstraint()

bool dart::constraint::ConstraintSolver::checkAndAddConstraint ( const ConstraintBasePtr & constraint )

protectedinherited

Add constraint if the constraint is not contained in this solver.

◆ checkAndAddSkeleton()

bool dart::constraint::ConstraintSolver::checkAndAddSkeleton ( const dynamics::SkeletonPtr & skeleton )

protectedinherited

Add skeleton if the constraint is not contained in this solver.

◆ clearLastCollisionResult()

void dart::constraint::ConstraintSolver::clearLastCollisionResult ( )

inherited

Clears the last collision result.

◆ containConstraint()

bool dart::constraint::ConstraintSolver::containConstraint ( const ConstConstraintBasePtr & constraint ) const

protectedinherited

Check if the constraint is contained in this solver.

◆ containSkeleton()

bool dart::constraint::ConstraintSolver::containSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

protectedinherited

Checks if the skeleton is contained in this solver.

Deprecated:: Use hasSkeleton() instead.

◆ eachConstraint() [1/2]

template<typename Func >

void dart::constraint::ConstraintSolver::eachConstraint ( Func func )

inherited

Iterates all the constraints and invokes the callback function.

Template Parameters

Func	The callback function type. The function signature should be equivalent to `void(ConstraintBase)` or `bool(ConstraintBase)`. If you want to conditionally iterate, use `bool(ConstraintBase*)` and return false when to stop iterating.

Parameters

[in] func The callback function to be called for each ConstraintBase.

◆ eachConstraint() [2/2]

template<typename Func >

void dart::constraint::ConstraintSolver::eachConstraint ( Func func ) const

inherited

Iterates all the constraints and invokes the callback function.

Template Parameters

Func	The callback function type. The function signature should be equivalent to `void(const ConstraintBase)` or `bool(const ConstraintBase)`. If you want to conditionally iterate, use `bool(const ConstraintBase*)` and return false when to stop iterating.

Parameters

[in] func The callback function to be called for each ConstraintBase.

◆ getBoxedLcpSolver()

ConstBoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::getBoxedLcpSolver ( ) const

Returns boxed LCP (BLCP) solver.

◆ getCollisionDetector() [1/2]

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( )

inherited

Get collision detector.

◆ getCollisionDetector() [2/2]

collision::ConstCollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( ) const

inherited

Get (const) collision detector.

◆ getCollisionGroup() [1/2]

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( )

inherited

Return collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionGroup() [2/2]

collision::ConstCollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( ) const

inherited

Return (const) collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionOption() [1/2]

collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( )

inherited

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getCollisionOption() [2/2]

const collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( ) const

inherited

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getConstraint() [1/2]

ConstraintBasePtr dart::constraint::ConstraintSolver::getConstraint ( std::size_t index )

inherited

Returns a constraint by index.

◆ getConstraint() [2/2]

ConstConstraintBasePtr dart::constraint::ConstraintSolver::getConstraint ( std::size_t index ) const

inherited

Returns a constraint by index.

◆ getConstraints() [1/2]

std::vector< ConstraintBasePtr > dart::constraint::ConstraintSolver::getConstraints ( )

inherited

Returns all the constraints added to this ConstraintSolver.

Deprecated:: Use eachConstraint() instead

◆ getConstraints() [2/2]

std::vector< ConstConstraintBasePtr > dart::constraint::ConstraintSolver::getConstraints ( ) const

inherited

Returns all the constraints added to this ConstraintSolver.

Deprecated:: Use eachConstraint() instead

◆ getLastCollisionResult() [1/2]

collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( )

inherited

Return the last collision checking result.

◆ getLastCollisionResult() [2/2]

const collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( ) const

inherited

Return the last collision checking result.

◆ getLastContactSurfaceHandler()

ContactSurfaceHandlerPtr dart::constraint::ConstraintSolver::getLastContactSurfaceHandler ( ) const

inherited

Get the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

◆ getLCPSolver()

LCPSolver * dart::constraint::ConstraintSolver::getLCPSolver ( ) const

inherited

Get LCP solver.

◆ getNumConstraints()

std::size_t dart::constraint::ConstraintSolver::getNumConstraints ( ) const

inherited

Returns the number of constraints that was manually added to this ConstraintSolver.

◆ getSecondaryBoxedLcpSolver()

ConstBoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::getSecondaryBoxedLcpSolver ( ) const

Returns boxed LCP (BLCP) solver that is used when the primary solver failed.

◆ getSkeletons()

const std::vector< SkeletonPtr > & dart::constraint::ConstraintSolver::getSkeletons ( ) const

inherited

Returns all the skeletons added to this ConstraintSolver.

◆ getTimeStep()

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

inherited

Get time step.

◆ hasSkeleton()

bool dart::constraint::ConstraintSolver::hasSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

protectedinherited

Checks if the skeleton is contained in this solver.

◆ isSoftContact()

bool dart::constraint::ConstraintSolver::isSoftContact ( const collision::Contact & contact ) const

protectedinherited

Return true if at least one of colliding body is soft body.

◆ isSymmetric() [1/2]

bool dart::constraint::BoxedLcpConstraintSolver::isSymmetric	(	std::size_t	n,
		double *	A
	)

private

Return true if the matrix is symmetric.

◆ isSymmetric() [2/2]

bool dart::constraint::BoxedLcpConstraintSolver::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::BoxedLcpConstraintSolver::print	(	std::size_t	n,
		double *	A,
		double *	x,
		double *	lo,
		double *	hi,
		double *	b,
		double *	w,
		int *	findex
	)

private

Print debug information.

◆ removeAllConstraints()

void dart::constraint::ConstraintSolver::removeAllConstraints ( )

inherited

Remove all constraints.

◆ removeAllSkeletons()

void dart::constraint::ConstraintSolver::removeAllSkeletons ( )

inherited

Remove all skeletons in this constraint solver.

◆ removeConstraint()

void dart::constraint::ConstraintSolver::removeConstraint ( const ConstraintBasePtr & constraint )

inherited

Remove a constraint.

◆ removeContactSurfaceHandler()

bool dart::constraint::ConstraintSolver::removeContactSurfaceHandler ( const ContactSurfaceHandlerPtr & handler )

inherited

Remove the given contact surface handler.

If it is not the last in the chain of handlers, the neighbor handlers are automatically connected when the given handler is removed. This function returns true when the given handler was found. It returns false when the handler is not found. The search procedure utilizes pointer equality (i.e. the shared pointers have to point to the same address to be treated equal). Take special care to make sure at least one handler is always available.

◆ removeSkeleton()

void dart::constraint::ConstraintSolver::removeSkeleton ( const dynamics::SkeletonPtr & skeleton )

inherited

Remove single skeleton.

◆ removeSkeletons()

void dart::constraint::ConstraintSolver::removeSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

inherited

Remove multiple skeletons.

◆ setBoxedLcpSolver()

void dart::constraint::BoxedLcpConstraintSolver::setBoxedLcpSolver ( BoxedLcpSolverPtr lcpSolver )

Sets boxed LCP (BLCP) solver.

Parameters

[in] lcpSolver The primary boxed LCP solver. When nullptr is passed, Dantzig solver will be used.

◆ setCollisionDetector() [1/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( collision::CollisionDetector * collisionDetector )

inherited

Set collision detector.

This function acquires ownership of the CollisionDetector passed as an argument. This method is deprecated in favor of the overload that accepts a std::shared_ptr.

◆ setCollisionDetector() [2/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( const std::shared_ptr< collision::CollisionDetector > & collisionDetector )

inherited

Set collision detector.

◆ setFromOtherConstraintSolver()

void dart::constraint::ConstraintSolver::setFromOtherConstraintSolver ( const ConstraintSolver & other )

virtualinherited

Sets this constraint solver using other constraint solver.

All the properties and registered skeletons and constraints will be copied over.

◆ setLCPSolver()

void dart::constraint::ConstraintSolver::setLCPSolver ( std::unique_ptr< LCPSolver > lcpSolver )

inherited

Set LCP solver.

◆ setSecondaryBoxedLcpSolver()

void dart::constraint::BoxedLcpConstraintSolver::setSecondaryBoxedLcpSolver ( BoxedLcpSolverPtr lcpSolver )

Sets boxed LCP (BLCP) solver that is used when the primary solver failed.

◆ setTimeStep()

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

virtualinherited

Set time step.

◆ solve()

void dart::constraint::ConstraintSolver::solve ( )

inherited

Solve constraint impulses and apply them to the skeletons.

◆ solveConstrainedGroup()

void dart::constraint::BoxedLcpConstraintSolver::solveConstrainedGroup ( ConstrainedGroup & group )

overrideprotectedvirtual

Implements dart::constraint::ConstraintSolver.

◆ solveConstrainedGroups()

void dart::constraint::ConstraintSolver::solveConstrainedGroups ( )

protectedinherited

Solve constrained groups.

◆ updateConstraints()

void dart::constraint::ConstraintSolver::updateConstraints ( )

protectedinherited

Update constraints.

Member Data Documentation

◆ mA

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dart::constraint::BoxedLcpConstraintSolver::mA

protected

Cache data for boxed LCP formulation.

◆ mABackup

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dart::constraint::BoxedLcpConstraintSolver::mABackup

protected

Cache data for boxed LCP formulation.

◆ mActiveConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mActiveConstraints

protectedinherited

Active constraints.

◆ mB

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mB

protected

Cache data for boxed LCP formulation.

◆ mBBackup

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mBBackup

protected

Cache data for boxed LCP formulation.

◆ mBoxedLcpSolver

BoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::mBoxedLcpSolver

protected

Boxed LCP solver.

◆ mCollisionDetector

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::mCollisionDetector

protectedinherited

Collision detector.

◆ mCollisionGroup

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::mCollisionGroup

protectedinherited

Collision group.

◆ mCollisionOption

collision::CollisionOption dart::constraint::ConstraintSolver::mCollisionOption

protectedinherited

Collision detection option.

◆ mCollisionResult

collision::CollisionResult dart::constraint::ConstraintSolver::mCollisionResult

protectedinherited

Last collision checking result.

◆ mConstrainedGroups

std::vector<ConstrainedGroup> dart::constraint::ConstraintSolver::mConstrainedGroups

protectedinherited

Constraint group list.

◆ mContactConstraints

std::vector<ContactConstraintPtr> dart::constraint::ConstraintSolver::mContactConstraints

protectedinherited

Contact constraints those are automatically created.

◆ mContactSurfaceHandler

ContactSurfaceHandlerPtr dart::constraint::ConstraintSolver::mContactSurfaceHandler

protectedinherited

Factory for ContactSurfaceParams for each contact.

◆ mFIndex

Eigen::VectorXi dart::constraint::BoxedLcpConstraintSolver::mFIndex

protected

Cache data for boxed LCP formulation.

◆ mFIndexBackup

Eigen::VectorXi dart::constraint::BoxedLcpConstraintSolver::mFIndexBackup

protected

Cache data for boxed LCP formulation.

◆ mHi

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mHi

protected

Cache data for boxed LCP formulation.

◆ mHiBackup

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mHiBackup

protected

Cache data for boxed LCP formulation.

◆ mJointConstraints

std::vector<JointConstraintPtr> dart::constraint::ConstraintSolver::mJointConstraints

protectedinherited

Joint limit constraints those are automatically created.

◆ mJointCoulombFrictionConstraints

std::vector<JointCoulombFrictionConstraintPtr> dart::constraint::ConstraintSolver::mJointCoulombFrictionConstraints

protectedinherited

Joint Coulomb friction constraints those are automatically created.

◆ mLo

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mLo

protected

Cache data for boxed LCP formulation.

◆ mLoBackup

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mLoBackup

protected

Cache data for boxed LCP formulation.

◆ mManualConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mManualConstraints

protectedinherited

Constraints that manually added.

◆ mMimicMotorConstraints

std::vector<MimicMotorConstraintPtr> dart::constraint::ConstraintSolver::mMimicMotorConstraints

protectedinherited

Mimic motor constraints those are automatically created.

◆ mOffset

Eigen::VectorXi dart::constraint::BoxedLcpConstraintSolver::mOffset

protected

Cache data for boxed LCP formulation.

◆ mSecondaryBoxedLcpSolver

BoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::mSecondaryBoxedLcpSolver

protected

Boxed LCP solver to be used when the primary solver failed.

◆ mSkeletons

std::vector<dynamics::SkeletonPtr> dart::constraint::ConstraintSolver::mSkeletons

protectedinherited

Skeleton list.

◆ mSoftContactConstraints

std::vector<SoftContactConstraintPtr> dart::constraint::ConstraintSolver::mSoftContactConstraints

protectedinherited

Soft contact constraints those are automatically created.

◆ mTimeStep

double dart::constraint::ConstraintSolver::mTimeStep

protectedinherited

Time step.

◆ mW

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mW

protected

Cache data for boxed LCP formulation.

◆ mX

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mX

protected

Cache data for boxed LCP formulation.

◆ mXBackup

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mXBackup

protected

Cache data for boxed LCP formulation.

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Member Typedef Documentation

◆ CollisionDetector

Constructor & Destructor Documentation

◆ BoxedLcpConstraintSolver() [1/4]

◆ BoxedLcpConstraintSolver() [2/4]

◆ BoxedLcpConstraintSolver() [3/4]

◆ BoxedLcpConstraintSolver() [4/4]

Member Function Documentation

◆ addConstraint()

◆ addContactSurfaceHandler()

◆ addSkeleton()

◆ addSkeletons()

◆ buildConstrainedGroups()

◆ checkAndAddConstraint()

◆ checkAndAddSkeleton()

◆ clearLastCollisionResult()

◆ containConstraint()

◆ containSkeleton()

◆ eachConstraint() [1/2]

◆ eachConstraint() [2/2]

◆ getBoxedLcpSolver()

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getCollisionGroup() [1/2]

◆ getCollisionGroup() [2/2]

◆ getCollisionOption() [1/2]

◆ getCollisionOption() [2/2]

◆ getConstraint() [1/2]

◆ getConstraint() [2/2]

◆ getConstraints() [1/2]

◆ getConstraints() [2/2]

◆ getLastCollisionResult() [1/2]

◆ getLastCollisionResult() [2/2]

◆ getLastContactSurfaceHandler()

◆ getLCPSolver()

◆ getNumConstraints()

◆ getSecondaryBoxedLcpSolver()

◆ getSkeletons()

◆ getTimeStep()

◆ hasSkeleton()

◆ isSoftContact()

◆ isSymmetric() [1/2]

◆ isSymmetric() [2/2]

◆ print()

◆ removeAllConstraints()

◆ removeAllSkeletons()

◆ removeConstraint()

◆ removeContactSurfaceHandler()

◆ removeSkeleton()

◆ removeSkeletons()

◆ setBoxedLcpSolver()

◆ setCollisionDetector() [1/2]

◆ setCollisionDetector() [2/2]

◆ setFromOtherConstraintSolver()

◆ setLCPSolver()

◆ setSecondaryBoxedLcpSolver()

◆ setTimeStep()

◆ solve()

◆ solveConstrainedGroup()

◆ solveConstrainedGroups()

◆ updateConstraints()

Member Data Documentation

◆ mA

◆ mABackup

◆ mActiveConstraints

◆ mB

◆ mBBackup

◆ mBoxedLcpSolver

◆ mCollisionDetector

◆ mCollisionGroup

◆ mCollisionOption

◆ mCollisionResult

◆ mConstrainedGroups

◆ mContactConstraints

◆ mContactSurfaceHandler