PGSLCPSolver.hpp

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#ifndef DART_CONSTRAINT_PGSLCPSOLVER_HPP_
#define DART_CONSTRAINT_PGSLCPSOLVER_HPP_
 
#include <cstddef>
 
#include "dart/config.hpp"
#include "dart/constraint/LCPSolver.hpp"
 
namespace dart {
namespace constraint {
 
class PGSLCPSolver : public LCPSolver
{
public:
  explicit PGSLCPSolver(double _timestep);
 
  virtual ~PGSLCPSolver();
 
  // Documentation inherited
  void solve(ConstrainedGroup* _group) override;
 
#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
};
 
struct PGSOption
{
  int itermax;
  double sor_w;
  double eps_ea;
  double eps_res;
  double eps_div;
 
  void setDefault();
};
 
bool solvePGS(int n, int nskip, int /*nub*/, double* A,
                            double* x, double * b,
                            double * lo, double * hi, int * findex,
                            PGSOption * option);
 
 
} // namespace constraint
} // namespace dart
 
#endif  // DART_CONSTRAINT_PGSLCPSOLVER_HPP_