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DantzigBoxedLcpSolver.hpp
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DantzigBoxedLcpSolver.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_DANTZIGBOXEDLCPSOLVER_HPP_
#define DART_CONSTRAINT_DANTZIGBOXEDLCPSOLVER_HPP_
#include <dart/constraint/BoxedLcpSolver.hpp>
namespace dart {
namespace constraint {
class DantzigBoxedLcpSolver : public BoxedLcpSolver
{
public:
// Documentation inherited.
const std::string& getType() const override;
/// Returns type for this class
static const std::string& getStaticType();
// Documentation inherited.
bool solve(
int n,
double* A,
double* x,
double* b,
int nub,
double* lo,
double* hi,
int* findex,
bool earlyTermination) override;
// Documentation inherited.
bool canSolve(int n, const double* A) override;
};
} // namespace constraint
} // namespace dart
#endif // DART_CONSTRAINT_DANTZIGBOXEDLCPSOLVER_HPP_