PGSLCPSolver.hpp

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#ifndef DART_CONSTRAINT_PGSLCPSOLVER_HPP_
#define DART_CONSTRAINT_PGSLCPSOLVER_HPP_

#include <cstddef>

#include "dart/config.hpp"
#include "dart/dynamics/LCPSolver.hpp"

namespace dart {
namespace dynamics {

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 dynamics
} // namespace dart

#endif // DART_CONSTRAINT_PGSLCPSOLVER_HPP_