dart::lcpsolver::ODELCPSolver Class Reference

#include <ODELCPSolver.hpp>

Public Member Functions
	ODELCPSolver ()
virtual	~ODELCPSolver ()
bool	Solve (const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, Eigen::VectorXd *_x, int numContacts, double mu=0, int numDir=0, bool bUseODESolver=false)

Private Member Functions
void	transferToODEFormulation (const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, Eigen::MatrixXd *_AOut, Eigen::VectorXd *_bOut, int _numDir, int _numContacts)
void	transferSolFromODEFormulation (const Eigen::VectorXd &_x, Eigen::VectorXd *_xOut, int _numDir, int _numContacts)
bool	checkIfSolution (const Eigen::MatrixXd &_A, const Eigen::VectorXd &_b, const Eigen::VectorXd &_x)

Constructor & Destructor Documentation

ODELCPSolver()

dart::lcpsolver::ODELCPSolver::ODELCPSolver

(

)

~ODELCPSolver()

dart::lcpsolver::ODELCPSolver::~ODELCPSolver ( )

virtual

Member Function Documentation

checkIfSolution()

bool dart::lcpsolver::ODELCPSolver::checkIfSolution ( const Eigen::MatrixXd &  _A, const Eigen::VectorXd &  _b, const Eigen::VectorXd &  _x  )

private

Solve()

bool dart::lcpsolver::ODELCPSolver::Solve	(	const Eigen::MatrixXd &	_A,
		const Eigen::VectorXd &	_b,
		Eigen::VectorXd *	_x,
		int	numContacts,
		double	mu = 0,
		int	numDir = 0,
		bool	bUseODESolver = false
	)

transferSolFromODEFormulation()

void dart::lcpsolver::ODELCPSolver::transferSolFromODEFormulation ( const Eigen::VectorXd &  _x, Eigen::VectorXd *  _xOut, int  _numDir, int  _numContacts  )

private

transferToODEFormulation()

void dart::lcpsolver::ODELCPSolver::transferToODEFormulation ( const Eigen::MatrixXd &  _A, const Eigen::VectorXd &  _b, Eigen::MatrixXd *  _AOut, Eigen::VectorXd *  _bOut, int  _numDir, int  _numContacts  )

private