dart::constraint::PGSLCPSolver Class Reference

PGSLCPSolver. More...

#include <PGSLCPSolver.hpp>

Inheritance diagram for dart::constraint::PGSLCPSolver:

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

Protected Attributes
double	mTimeStep
	Simulation time step. More...

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

Detailed Description

PGSLCPSolver.

Constructor & Destructor Documentation

PGSLCPSolver()

dart::constraint::PGSLCPSolver::PGSLCPSolver ( double  _timestep )

explicit

Constructor.

~PGSLCPSolver()

dart::constraint::PGSLCPSolver::~PGSLCPSolver ( )

virtual

Constructor.

Member Function Documentation

getTimeStep()

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

inherited

Return time step.

isSymmetric() [1/2]

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

private

Return true if the matrix is symmetric.

isSymmetric() [2/2]

bool dart::constraint::PGSLCPSolver::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::PGSLCPSolver::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::PGSLCPSolver::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.