LCPSolver.hpp

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#ifndef DART_CONSTRAINT_LCPSOLVER_HPP_
#define DART_CONSTRAINT_LCPSOLVER_HPP_

namespace dart {
namespace dynamics {

class ConstrainedGroup;

class LCPSolver
{
public:
  virtual void solve(ConstrainedGroup* _group) = 0;

  void setTimeStep(double _timeStep);

  double getTimeStep() const;

  virtual ~LCPSolver();

protected:
  LCPSolver(double _timeStep);

protected:
  double mTimeStep;
};

} // namespace dynamics
} // namespace dart

#endif // DART_CONSTRAINT_LCPSOLVER_HPP_