Open Dynamics Engine
Public Member Functions | Static Public Member Functions | Public Attributes

dLCP Struct Reference

List of all members.

Public Member Functions

 dLCP (int _n, int _nskip, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w, dReal *_lo, dReal *_hi, dReal *_L, dReal *_d, dReal *_Dell, dReal *_ell, dReal *_tmp, bool *_state, int *_findex, int *_p, int *_C, dReal **Arows)
int getNub () const
void transfer_i_to_C (int i)
void transfer_i_to_N (int i)
void transfer_i_from_N_to_C (int i)
void transfer_i_from_C_to_N (int i, void *tmpbuf)
int numC () const
int numN () const
int indexC (int i) const
int indexN (int i) const
dReal Aii (int i) const
dReal AiC_times_qC (int i, dReal *q) const
dReal AiN_times_qN (int i, dReal *q) const
void pN_equals_ANC_times_qC (dReal *p, dReal *q)
void pN_plusequals_ANi (dReal *p, int i, int sign=1)
void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
void solve1 (dReal *a, int i, int dir=1, int only_transfer=0)
void unpermute ()

Static Public Member Functions

static size_t estimate_transfer_i_from_C_to_N_mem_req (int nC, int nskip)

Public Attributes

const int m_n
const int m_nskip
int m_nub
int m_nC
int m_nN
ATYPE const m_A
dReal *const m_x
dReal *const *const m_b
dReal *const *const *const m_w
dReal *const *const *const *const m_lo
dReal *const *const *const
*const *const 
m_hi
dReal *const m_L
dReal *const *const m_d
dReal *const m_Dell
dReal *const *const m_ell
dReal *const *const *const m_tmp
bool *const m_state
int *const m_findex
int *const *const m_p
int *const *const *const m_C

The documentation for this struct was generated from the following file: