DART  6.7.3
LCPSolver.hpp
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32 
33 #ifndef DART_CONSTRAINT_LCPSOLVER_HPP_
34 #define DART_CONSTRAINT_LCPSOLVER_HPP_
35 
36 namespace dart {
37 namespace constraint {
38 
39 class ConstrainedGroup;
40 
44 class LCPSolver
45 {
46 public:
48  virtual void solve(ConstrainedGroup* _group) = 0;
49 
51  void setTimeStep(double _timeStep);
52 
54  double getTimeStep() const;
55 
57  virtual ~LCPSolver();
58 
59 protected:
61  LCPSolver(double _timeStep);
62 
63 protected:
65  double mTimeStep;
66 };
67 
68 } // namespace constraint
69 } // namespace dart
70 
71 #endif // DART_CONSTRAINT_LCPSOLVER_HPP_
72 
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Definition: LCPSolver.hpp:45
virtual void solve(ConstrainedGroup *_group)=0
Solve constriant impulses for a constrained group.
LCPSolver(double _timeStep)
Constructor.
Definition: LCPSolver.cpp:54
void setTimeStep(double _timeStep)
Set time step.
Definition: LCPSolver.cpp:41
double mTimeStep
Simulation time step.
Definition: LCPSolver.hpp:65
virtual ~LCPSolver()
Destructor.
Definition: LCPSolver.cpp:59
double getTimeStep() const
Return time step.
Definition: LCPSolver.cpp:48
Definition: BulletCollisionDetector.cpp:63