dart::constraint::DantzigBoxedLcpSolver Class Reference

#include <DantzigBoxedLcpSolver.hpp>

Inheritance diagram for dart::constraint::DantzigBoxedLcpSolver:

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

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns type for this class. More...

Member Function Documentation

canSolve()

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

overridevirtual

Implements dart::constraint::BoxedLcpSolver.

getStaticType()

const std::string & dart::constraint::DantzigBoxedLcpSolver::getStaticType ( )

static

Returns type for this class.

getType()

const std::string & dart::constraint::DantzigBoxedLcpSolver::getType ( ) const

overridevirtual

Returns the type.

Implements dart::constraint::BoxedLcpSolver.

is()

template<typename BoxedLcpSolverT >

bool dart::constraint::BoxedLcpSolver::is

inherited

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()

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

overridevirtual

Solves constriant impulses for a constrained group.

Implements dart::constraint::BoxedLcpSolver.