dart::constraint::LCPSolver Class Reference

LCPSolver. More...

#include <LCPSolver.hpp>

Inheritance diagram for dart::constraint::LCPSolver:

Public Member Functions
virtual void	solve (ConstrainedGroup *_group)=0
	Solve constriant impulses for a constrained group. More...
void	setTimeStep (double _timeStep)
	Set time step. More...
double	getTimeStep () const
	Return time step. More...
virtual	~LCPSolver ()
	Destructor. More...

Protected Member Functions
	LCPSolver (double _timeStep)
	Constructor. More...

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

Detailed Description

LCPSolver.

Constructor & Destructor Documentation

~LCPSolver()

dart::constraint::LCPSolver::~LCPSolver ( )

virtual

Destructor.

LCPSolver()

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

protected

Constructor.

Member Function Documentation

getTimeStep()

double dart::constraint::LCPSolver::getTimeStep

(

)

const

Return time step.

setTimeStep()

void dart::constraint::LCPSolver::setTimeStep

(

double

_timeStep

)

Set time step.

solve()

virtual void dart::constraint::LCPSolver::solve ( ConstrainedGroup *  _group )

pure virtual

Solve constriant impulses for a constrained group.

Implemented in dart::constraint::PGSLCPSolver, and dart::constraint::DantzigLCPSolver.

Member Data Documentation

mTimeStep

double dart::constraint::LCPSolver::mTimeStep

protected

Simulation time step.