#include <BoxedLcpConstraintSolver.hpp>

Inheritance diagram for dart::constraint::BoxedLcpConstraintSolver:

Public Member Functions
	BoxedLcpConstraintSolver (double timeStep, BoxedLcpSolverPtr boxedLcpSolver=nullptr)
	Constructor. More...

void	setBoxedLcpSolver (BoxedLcpSolverPtr lcpSolver)
	Sets boxed LCP (BLCP) solver. More...

ConstBoxedLcpSolverPtr	getBoxedLcpSolver () const
	Returns boxed LCP (BLCP) solver. More...

void	addSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add single skeleton. More...

void	addSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Add mutiple skeletons. More...

const std::vector< dynamics::SkeletonPtr > &	getSkeletons () const
	Returns all the skeletons added to this ConstraintSolver. More...

void	removeSkeleton (const dynamics::SkeletonPtr &skeleton)
	Remove single skeleton. More...

void	removeSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Remove multiple skeletons. More...

void	removeAllSkeletons ()
	Remove all skeletons in this constraint solver. More...

void	addConstraint (const ConstraintBasePtr &constraint)
	Add a constraint. More...

void	removeConstraint (const ConstraintBasePtr &constraint)
	Remove a constraint. More...

void	removeAllConstraints ()
	Remove all constraints. More...

void	clearLastCollisionResult ()
	Clears the last collision result. More...

void	setTimeStep (double _timeStep)
	Set time step. More...

double	getTimeStep () const
	Get time step. More...

void	setCollisionDetector (collision::CollisionDetector *collisionDetector)
	Set collision detector. More...

void	setCollisionDetector (const std::shared_ptr< collision::CollisionDetector > &collisionDetector)
	Set collision detector. More...

collision::CollisionDetectorPtr	getCollisionDetector ()
	Get collision detector. More...

collision::ConstCollisionDetectorPtr	getCollisionDetector () const
	Get (const) collision detector. More...

collision::CollisionGroupPtr	getCollisionGroup ()
	Return collision group of collision objects that are added to this ConstraintSolver. More...

collision::ConstCollisionGroupPtr	getCollisionGroup () const
	Return (const) collision group of collision objects that are added to this ConstraintSolver. More...

collision::CollisionOption &	getCollisionOption ()
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

const collision::CollisionOption &	getCollisionOption () const
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

collision::CollisionResult &	getLastCollisionResult ()
	Return the last collision checking result. More...

const collision::CollisionResult &	getLastCollisionResult () const
	Return the last collision checking result. More...

void	setLCPSolver (std::unique_ptr< LCPSolver > lcpSolver)
	Set LCP solver. More...

LCPSolver *	getLCPSolver () const
	Get LCP solver. More...

void	solve ()
	Solve constraint impulses and apply them to the skeletons. More...

Protected Types
using	CollisionDetector = collision::CollisionDetector

Protected Member Functions
void	solveConstrainedGroup (ConstrainedGroup &group) override

bool	containSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Check if the skeleton is contained in this solver. More...

bool	checkAndAddSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add skeleton if the constraint is not contained in this solver. More...

bool	containConstraint (const ConstConstraintBasePtr &constraint) const
	Check if the constraint is contained in this solver. More...

bool	checkAndAddConstraint (const ConstraintBasePtr &constraint)
	Add constraint if the constraint is not contained in this solver. More...

void	updateConstraints ()
	Update constraints. More...

void	buildConstrainedGroups ()
	Build constrained groupsContact. More...

void	solveConstrainedGroups ()
	Solve constrained groups. More...

bool	isSoftContact (const collision::Contact &contact) const
	Return true if at least one of colliding body is soft body. More...

Protected Attributes
BoxedLcpSolverPtr	mBoxedLcpSolver
	Boxed LCP solver. More...

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	mA
	Cache data for boxed LCP formulation. More...

Eigen::VectorXd	mX
	Cache data for boxed LCP formulation. More...

Eigen::VectorXd	mB
	Cache data for boxed LCP formulation. More...

Eigen::VectorXd	mW
	Cache data for boxed LCP formulation. More...

Eigen::VectorXd	mLo
	Cache data for boxed LCP formulation. More...

Eigen::VectorXd	mHi
	Cache data for boxed LCP formulation. More...

Eigen::VectorXi	mFIndex
	Cache data for boxed LCP formulation. More...

Eigen::VectorXi	mOffset
	Cache data for boxed LCP formulation. More...

collision::CollisionDetectorPtr	mCollisionDetector
	Collision detector. More...

collision::CollisionGroupPtr	mCollisionGroup
	Collision group. More...

collision::CollisionOption	mCollisionOption
	Collision detection option. More...

collision::CollisionResult	mCollisionResult
	Last collision checking result. More...

double	mTimeStep
	Time step. More...

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeleton list. More...

std::vector< ContactConstraintPtr >	mContactConstraints
	Contact constraints those are automatically created. More...

std::vector< SoftContactConstraintPtr >	mSoftContactConstraints
	Soft contact constraints those are automatically created. More...

std::vector< JointLimitConstraintPtr >	mJointLimitConstraints
	Joint limit constraints those are automatically created. More...

std::vector< ServoMotorConstraintPtr >	mServoMotorConstraints
	Servo motor constraints those are automatically created. More...

std::vector< MimicMotorConstraintPtr >	mMimicMotorConstraints
	Mimic motor constraints those are automatically created. More...

std::vector< JointCoulombFrictionConstraintPtr >	mJointCoulombFrictionConstraints
	Joint Coulomb friction constraints those are automatically created. More...

std::vector< ConstraintBasePtr >	mManualConstraints
	Constraints that manually added. More...

std::vector< ConstraintBasePtr >	mActiveConstraints
	Active constraints. More...

std::vector< ConstrainedGroup >	mConstrainedGroups
	Constraint group list. 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...

Member Typedef Documentation

◆ CollisionDetector

using dart::constraint::ConstraintSolver::CollisionDetector = collision::CollisionDetector

protectedinherited

Constructor & Destructor Documentation

◆ BoxedLcpConstraintSolver()

dart::constraint::BoxedLcpConstraintSolver::BoxedLcpConstraintSolver	(	double	timeStep,
		BoxedLcpSolverPtr	boxedLcpSolver = `nullptr`
	)

Constructor.

Member Function Documentation

◆ addConstraint()

void dart::constraint::ConstraintSolver::addConstraint ( const ConstraintBasePtr & constraint )

inherited

Add a constraint.

◆ addSkeleton()

void dart::constraint::ConstraintSolver::addSkeleton ( const dynamics::SkeletonPtr & skeleton )

inherited

Add single skeleton.

◆ addSkeletons()

void dart::constraint::ConstraintSolver::addSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

inherited

Add mutiple skeletons.

◆ buildConstrainedGroups()

void dart::constraint::ConstraintSolver::buildConstrainedGroups ( )

protectedinherited

Build constrained groupsContact.

◆ checkAndAddConstraint()

bool dart::constraint::ConstraintSolver::checkAndAddConstraint ( const ConstraintBasePtr & constraint )

protectedinherited

Add constraint if the constraint is not contained in this solver.

◆ checkAndAddSkeleton()

bool dart::constraint::ConstraintSolver::checkAndAddSkeleton ( const dynamics::SkeletonPtr & skeleton )

protectedinherited

Add skeleton if the constraint is not contained in this solver.

◆ clearLastCollisionResult()

void dart::constraint::ConstraintSolver::clearLastCollisionResult ( )

inherited

Clears the last collision result.

◆ containConstraint()

bool dart::constraint::ConstraintSolver::containConstraint ( const ConstConstraintBasePtr & constraint ) const

protectedinherited

Check if the constraint is contained in this solver.

◆ containSkeleton()

bool dart::constraint::ConstraintSolver::containSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

protectedinherited

Check if the skeleton is contained in this solver.

◆ getBoxedLcpSolver()

ConstBoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::getBoxedLcpSolver ( ) const

Returns boxed LCP (BLCP) solver.

◆ getCollisionDetector() [1/2]

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( )

inherited

Get collision detector.

◆ getCollisionDetector() [2/2]

collision::ConstCollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( ) const

inherited

Get (const) collision detector.

◆ getCollisionGroup() [1/2]

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( )

inherited

Return collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionGroup() [2/2]

collision::ConstCollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( ) const

inherited

Return (const) collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionOption() [1/2]

collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( )

inherited

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getCollisionOption() [2/2]

const collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( ) const

inherited

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getLastCollisionResult() [1/2]

collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( )

inherited

Return the last collision checking result.

◆ getLastCollisionResult() [2/2]

const collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( ) const

inherited

Return the last collision checking result.

◆ getLCPSolver()

LCPSolver * dart::constraint::ConstraintSolver::getLCPSolver ( ) const

inherited

Get LCP solver.

◆ getSkeletons()

const std::vector< SkeletonPtr > & dart::constraint::ConstraintSolver::getSkeletons ( ) const

inherited

Returns all the skeletons added to this ConstraintSolver.

◆ getTimeStep()

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

inherited

Get time step.

◆ isSoftContact()

bool dart::constraint::ConstraintSolver::isSoftContact ( const collision::Contact & contact ) const

protectedinherited

Return true if at least one of colliding body is soft body.

◆ isSymmetric() [1/2]

bool dart::constraint::BoxedLcpConstraintSolver::isSymmetric	(	std::size_t	n,
		double *	A
	)

private

Return true if the matrix is symmetric.

◆ isSymmetric() [2/2]

bool dart::constraint::BoxedLcpConstraintSolver::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::BoxedLcpConstraintSolver::print	(	std::size_t	n,
		double *	A,
		double *	x,
		double *	lo,
		double *	hi,
		double *	b,
		double *	w,
		int *	findex
	)

private

Print debug information.

◆ removeAllConstraints()

void dart::constraint::ConstraintSolver::removeAllConstraints ( )

inherited

Remove all constraints.

◆ removeAllSkeletons()

void dart::constraint::ConstraintSolver::removeAllSkeletons ( )

inherited

Remove all skeletons in this constraint solver.

◆ removeConstraint()

void dart::constraint::ConstraintSolver::removeConstraint ( const ConstraintBasePtr & constraint )

inherited

Remove a constraint.

◆ removeSkeleton()

void dart::constraint::ConstraintSolver::removeSkeleton ( const dynamics::SkeletonPtr & skeleton )

inherited

Remove single skeleton.

◆ removeSkeletons()

void dart::constraint::ConstraintSolver::removeSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

inherited

Remove multiple skeletons.

◆ setBoxedLcpSolver()

void dart::constraint::BoxedLcpConstraintSolver::setBoxedLcpSolver ( BoxedLcpSolverPtr lcpSolver )

Sets boxed LCP (BLCP) solver.

◆ setCollisionDetector() [1/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( collision::CollisionDetector * collisionDetector )

inherited

Set collision detector.

This function acquires ownership of the CollisionDetector passed as an argument. This method is deprecated in favor of the overload that accepts a std::shared_ptr.

◆ setCollisionDetector() [2/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( const std::shared_ptr< collision::CollisionDetector > & collisionDetector )

inherited

Set collision detector.

◆ setLCPSolver()

void dart::constraint::ConstraintSolver::setLCPSolver ( std::unique_ptr< LCPSolver > lcpSolver )

inherited

Set LCP solver.

◆ setTimeStep()

void dart::constraint::ConstraintSolver::setTimeStep ( double _timeStep )

inherited

Set time step.

◆ solve()

void dart::constraint::ConstraintSolver::solve ( )

inherited

Solve constraint impulses and apply them to the skeletons.

◆ solveConstrainedGroup()

void dart::constraint::BoxedLcpConstraintSolver::solveConstrainedGroup ( ConstrainedGroup & group )

overrideprotectedvirtual

Implements dart::constraint::ConstraintSolver.

◆ solveConstrainedGroups()

void dart::constraint::ConstraintSolver::solveConstrainedGroups ( )

protectedinherited

Solve constrained groups.

◆ updateConstraints()

void dart::constraint::ConstraintSolver::updateConstraints ( )

protectedinherited

Update constraints.

Member Data Documentation

◆ mA

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dart::constraint::BoxedLcpConstraintSolver::mA

protected

Cache data for boxed LCP formulation.

◆ mActiveConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mActiveConstraints

protectedinherited

Active constraints.

◆ mB

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mB

protected

Cache data for boxed LCP formulation.

◆ mBoxedLcpSolver

BoxedLcpSolverPtr dart::constraint::BoxedLcpConstraintSolver::mBoxedLcpSolver

protected

Boxed LCP solver.

◆ mCollisionDetector

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::mCollisionDetector

protectedinherited

Collision detector.

◆ mCollisionGroup

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::mCollisionGroup

protectedinherited

Collision group.

◆ mCollisionOption

collision::CollisionOption dart::constraint::ConstraintSolver::mCollisionOption

protectedinherited

Collision detection option.

◆ mCollisionResult

collision::CollisionResult dart::constraint::ConstraintSolver::mCollisionResult

protectedinherited

Last collision checking result.

◆ mConstrainedGroups

std::vector<ConstrainedGroup> dart::constraint::ConstraintSolver::mConstrainedGroups

protectedinherited

Constraint group list.

◆ mContactConstraints

std::vector<ContactConstraintPtr> dart::constraint::ConstraintSolver::mContactConstraints

protectedinherited

Contact constraints those are automatically created.

◆ mFIndex

Eigen::VectorXi dart::constraint::BoxedLcpConstraintSolver::mFIndex

protected

Cache data for boxed LCP formulation.

◆ mHi

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mHi

protected

Cache data for boxed LCP formulation.

◆ mJointCoulombFrictionConstraints

std::vector<JointCoulombFrictionConstraintPtr> dart::constraint::ConstraintSolver::mJointCoulombFrictionConstraints

protectedinherited

Joint Coulomb friction constraints those are automatically created.

◆ mJointLimitConstraints

std::vector<JointLimitConstraintPtr> dart::constraint::ConstraintSolver::mJointLimitConstraints

protectedinherited

Joint limit constraints those are automatically created.

◆ mLo

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mLo

protected

Cache data for boxed LCP formulation.

◆ mManualConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mManualConstraints

protectedinherited

Constraints that manually added.

◆ mMimicMotorConstraints

std::vector<MimicMotorConstraintPtr> dart::constraint::ConstraintSolver::mMimicMotorConstraints

protectedinherited

Mimic motor constraints those are automatically created.

◆ mOffset

Eigen::VectorXi dart::constraint::BoxedLcpConstraintSolver::mOffset

protected

Cache data for boxed LCP formulation.

◆ mServoMotorConstraints

std::vector<ServoMotorConstraintPtr> dart::constraint::ConstraintSolver::mServoMotorConstraints

protectedinherited

Servo motor constraints those are automatically created.

◆ mSkeletons

std::vector<dynamics::SkeletonPtr> dart::constraint::ConstraintSolver::mSkeletons

protectedinherited

Skeleton list.

◆ mSoftContactConstraints

std::vector<SoftContactConstraintPtr> dart::constraint::ConstraintSolver::mSoftContactConstraints

protectedinherited

Soft contact constraints those are automatically created.

◆ mTimeStep

double dart::constraint::ConstraintSolver::mTimeStep

protectedinherited

Time step.

◆ mW

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mW

protected

Cache data for boxed LCP formulation.

◆ mX

Eigen::VectorXd dart::constraint::BoxedLcpConstraintSolver::mX

protected

Cache data for boxed LCP formulation.

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Member Typedef Documentation

◆ CollisionDetector

Constructor & Destructor Documentation

◆ BoxedLcpConstraintSolver()

Member Function Documentation

◆ addConstraint()

◆ addSkeleton()

◆ addSkeletons()

◆ buildConstrainedGroups()

◆ checkAndAddConstraint()

◆ checkAndAddSkeleton()

◆ clearLastCollisionResult()

◆ containConstraint()

◆ containSkeleton()

◆ getBoxedLcpSolver()

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getCollisionGroup() [1/2]

◆ getCollisionGroup() [2/2]

◆ getCollisionOption() [1/2]

◆ getCollisionOption() [2/2]

◆ getLastCollisionResult() [1/2]

◆ getLastCollisionResult() [2/2]

◆ getLCPSolver()

◆ getSkeletons()

◆ getTimeStep()

◆ isSoftContact()

◆ isSymmetric() [1/2]

◆ isSymmetric() [2/2]

◆ print()

◆ removeAllConstraints()

◆ removeAllSkeletons()

◆ removeConstraint()

◆ removeSkeleton()

◆ removeSkeletons()

◆ setBoxedLcpSolver()

◆ setCollisionDetector() [1/2]

◆ setCollisionDetector() [2/2]

◆ setLCPSolver()

◆ setTimeStep()

◆ solve()

◆ solveConstrainedGroup()

◆ solveConstrainedGroups()

◆ updateConstraints()

Member Data Documentation

◆ mA

◆ mActiveConstraints

◆ mB

◆ mBoxedLcpSolver

◆ mCollisionDetector

◆ mCollisionGroup

◆ mCollisionOption

◆ mCollisionResult

◆ mConstrainedGroups

◆ mContactConstraints

◆ mFIndex

◆ mHi

◆ mJointCoulombFrictionConstraints

◆ mJointLimitConstraints

◆ mLo

◆ mManualConstraints

◆ mMimicMotorConstraints

◆ mOffset

◆ mServoMotorConstraints

◆ mSkeletons

◆ mSoftContactConstraints

◆ mTimeStep

◆ mW

◆ mX