BoxedLcpConstraintSolver.hpp

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#ifndef DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_
#define DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_

#include "dart/dynamics/ConstraintSolver.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class BoxedLcpConstraintSolver : public ConstraintSolver
{
public:
  DART_DEPRECATED(6.8)
  BoxedLcpConstraintSolver(
      double timeStep,
      BoxedLcpSolverPtr boxedLcpSolver = nullptr,
      BoxedLcpSolverPtr secondaryBoxedLcpSolver = nullptr);

  BoxedLcpConstraintSolver();

  BoxedLcpConstraintSolver(BoxedLcpSolverPtr boxedLcpSolver);

  BoxedLcpConstraintSolver(
      BoxedLcpSolverPtr boxedLcpSolver,
      BoxedLcpSolverPtr secondaryBoxedLcpSolver);

  void setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);

  ConstBoxedLcpSolverPtr getBoxedLcpSolver() const;

  void setSecondaryBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);

  ConstBoxedLcpSolverPtr getSecondaryBoxedLcpSolver() const;

protected:
  // Documentation inherited.
  void solveConstrainedGroup(ConstrainedGroup& group) override;

  BoxedLcpSolverPtr mBoxedLcpSolver;
  // TODO(JS): Hold as unique_ptr because there is no reason to share. Make this
  // change in DART 7 because it's API breaking change.

  BoxedLcpSolverPtr mSecondaryBoxedLcpSolver;
  // TODO(JS): Hold as unique_ptr because there is no reason to share. Make this
  // change in DART 7 because it's API breaking change.

  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> mA;

  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
      mABackup;

  Eigen::VectorXd mX;

  Eigen::VectorXd mXBackup;

  Eigen::VectorXd mB;

  Eigen::VectorXd mBBackup;

  Eigen::VectorXd mW;

  Eigen::VectorXd mLo;

  Eigen::VectorXd mLoBackup;

  Eigen::VectorXd mHi;

  Eigen::VectorXd mHiBackup;

  Eigen::VectorXi mFIndex;

  Eigen::VectorXi mFIndexBackup;

  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 dynamics
} // namespace dart

#endif // DART_CONSTRAINT_BOXEDLCPCONSTRAINTSOLVER_HPP_