dart::constraint::BoxedLcpSolver Class Reference

#include <BoxedLcpSolver.hpp>

Inheritance diagram for dart::constraint::BoxedLcpSolver:

Public Member Functions
virtual	~BoxedLcpSolver ()=default
	Destructor. More...
virtual const std::string &	getType () const =0
	Returns the type. More...
template<typename BoxedLcpSolverT >
bool	is () const
	Get true if this solver and the template parameter (a solver class) are the same type. More...
virtual void	solve (int n, double *A, double *x, double *b, int nub, double *lo, double *hi, int *findex)=0
	Solves constriant impulses for a constrained group. More...
virtual bool	canSolve (int n, const double *A)=0

Constructor & Destructor Documentation

~BoxedLcpSolver()

virtual dart::constraint::BoxedLcpSolver::~BoxedLcpSolver ( )

virtualdefault

Destructor.

Member Function Documentation

canSolve()

virtual bool dart::constraint::BoxedLcpSolver::canSolve ( int  n, const double *  A  )

pure virtual

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.

getType()

virtual const std::string& dart::constraint::BoxedLcpSolver::getType ( ) const

pure virtual

Returns the type.

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.

is()

template<typename BoxedLcpSolverT >

bool dart::constraint::BoxedLcpSolver::is

Get true if this solver and the template parameter (a solver class) are the same type.

This function is a syntactic sugar, which is identical to:

getType() == ShapeType::getStaticType() 

.

Example code:

auto shape = bodyNode->getShapeNode(0)->getShape();
if (shape->is<BoxShape>())
  std::cout << "The shape type is box!\n";

See also

getType()

solve()

virtual void dart::constraint::BoxedLcpSolver::solve ( int  n, double *  A, double *  x, double *  b, int  nub, double *  lo, double *  hi, int *  findex  )

pure virtual

Solves constriant impulses for a constrained group.

Implemented in dart::constraint::PgsBoxedLcpSolver, and dart::constraint::DantzigBoxedLcpSolver.