DantzigLCPSolver.hpp

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#ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
#define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
 
#include <cstddef>
 
#include "dart/config.hpp"
#include "dart/constraint/LCPSolver.hpp"
 
namespace dart {
namespace constraint {
 
class DantzigLCPSolver : public LCPSolver
{
public:
  explicit DantzigLCPSolver(double _timestep);
 
  virtual ~DantzigLCPSolver();
 
  // Documentation inherited
  void solve(ConstrainedGroup* _group) override;
 
#ifndef NDEBUG
private:
  bool isSymmetric(std::size_t _n, double* _A);
 
  bool isSymmetric(std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);
 
  void print(std::size_t _n, double* _A, double* _x, double* _lo, double* _hi,
             double* _b, double* w, int* _findex);
#endif
};
 
} // namespace constraint
} // namespace dart
 
#endif  // DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_