/
BoxedLcpSolver.hpp
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/
BoxedLcpSolver.hpp
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/*
* Copyright (c) 2011-2024, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/main/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_
#define DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_
#include <dart/config.hpp>
#include <dart/common/Castable.hpp>
#include <Eigen/Core>
#include <string>
namespace dart {
namespace constraint {
class BoxedLcpSolver : public common::Castable<BoxedLcpSolver>
{
public:
/// Destructor
virtual ~BoxedLcpSolver() = default;
/// Returns the type
virtual const std::string& getType() const = 0;
/// Solves constriant impulses for a constrained group. The LCP formulation
/// setting that this function solve is A*x = b + w where each x[i], w[i]
/// satisfies one of
/// (1) x = lo, w >= 0
/// (2) x = hi, w <= 0
/// (3) lo < x < hi, w = 0
///
/// \param[in] n Dimension of constraints.
/// \param[in] A A term of the LCP formulation.
/// \param[in] x x term of the LCP formulation.
/// \param[in] b b term of the LCP formulation.
/// \param[in] nub Number of the first unbounded constraints.
/// \param[in] lo Lower bound of x where it's restricted to be lo <= 0.
/// \param[in] hi Upper bound of x where it's enforced to be hi >= 0.
/// \param[in] findex Indices to corresponding normal contact constraint. Set
/// the index to itself (e.g., findex[k] = k) for normal contacts or
/// non-contact constraints. For friction constraint, set the cooresponding
/// normal contact constraint.
/// \param[in] earlyTermination Set true to return false as soon as the solver
/// find the solution doesn't exist. Otherwise, the solver will continue to
/// push hard to solve the problem using some hacks.
///
/// \return Success.
// Note: The function signature is ODE specific for now. Consider changing
// this to Eigen friendly version once own Dantzig LCP solver is available.
virtual bool solve(
int n,
double* A,
double* x,
double* b,
int nub,
double* lo,
double* hi,
int* findex,
bool earlyTermination = false)
= 0;
virtual bool canSolve(int n, const double* A) = 0;
};
} // namespace constraint
} // namespace dart
#endif // DART_CONSTRAINT_BOXEDLCPSOLVER_HPP_