BoxedLcpConstraintSolver.hpp

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#ifndef DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_
#define DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_
 
#include "dart/constraint/ConstraintSolver.hpp"
#include "dart/constraint/SmartPointer.hpp"
 
namespace dart {
namespace constraint {
 
class BoxedLcpConstraintSolver : public ConstraintSolver
{
public:
  BoxedLcpConstraintSolver(
      double timeStep, BoxedLcpSolverPtr boxedLcpSolver = nullptr);
 
  void setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
 
  ConstBoxedLcpSolverPtr getBoxedLcpSolver() const;
 
protected:
  // Documentation inherited.
  void solveConstrainedGroup(ConstrainedGroup& group) override;
 
  BoxedLcpSolverPtr mBoxedLcpSolver;
 
  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> mA;
 
  Eigen::VectorXd mX;
 
  Eigen::VectorXd mB;
 
  Eigen::VectorXd mW;
 
  Eigen::VectorXd mLo;
 
  Eigen::VectorXd mHi;
 
  Eigen::VectorXi mFIndex;
 
  Eigen::VectorXi mOffset;
 
#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_BOXEDLCPCONSTRAINTSOLVER_HPP_