dart::constraint::PgsBoxedLcpSolver Class Reference

Implementation of projected Gauss-Seidel (PGS) LCP solver. More...

#include <PgsBoxedLcpSolver.hpp>

Inheritance diagram for dart::constraint::PgsBoxedLcpSolver:

Classes
struct	Option

Public Member Functions
const std::string &	getType () const override
	Returns the type.
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.
bool	canSolve (int n, const double *A) override
void	setOption (const Option &option)
	Sets options.
const Option &	getOption () const
	Returns options.
template<typename BoxedLcpSolverT >
bool	is () const
	Get true if this solver and the template parameter (a solver class) are the same type.

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

Protected Attributes
Option	mOption
std::vector< int >	mCacheOrder
std::vector< double >	mCacheD
Eigen::VectorXd	mCachedNormalizedA
Eigen::MatrixXd	mCachedNormalizedB
Eigen::VectorXd	mCacheZ
Eigen::VectorXd	mCacheOldX

Detailed Description

Implementation of projected Gauss-Seidel (PGS) LCP solver.

Member Function Documentation

canSolve()

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

overridevirtual

Implements dart::constraint::BoxedLcpSolver.

getOption()

const PgsBoxedLcpSolver::Option & dart::constraint::PgsBoxedLcpSolver::getOption

(

)

const

Returns options.

getStaticType()

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

static

Returns type for this class.

getType()

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

overridevirtual

Returns the type.

Implements dart::constraint::BoxedLcpSolver.

is()

template<typename BoxedLcpSolverT >

bool dart::constraint::BoxedLcpSolver::is ( ) const

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()

setOption()

void dart::constraint::PgsBoxedLcpSolver::setOption

(

const Option &

option

)

Sets options.

solve()

void dart::constraint::PgsBoxedLcpSolver::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.

Member Data Documentation

mCacheD

std::vector<double> dart::constraint::PgsBoxedLcpSolver::mCacheD

mutableprotected

mCachedNormalizedA

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCachedNormalizedA

mutableprotected

mCachedNormalizedB

Eigen::MatrixXd dart::constraint::PgsBoxedLcpSolver::mCachedNormalizedB

mutableprotected

mCacheOldX

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCacheOldX

mutableprotected

mCacheOrder

std::vector<int> dart::constraint::PgsBoxedLcpSolver::mCacheOrder

mutableprotected

mCacheZ

Eigen::VectorXd dart::constraint::PgsBoxedLcpSolver::mCacheZ

mutableprotected

mOption

Option dart::constraint::PgsBoxedLcpSolver::mOption

protected