Open Dynamics Engine
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
dLCP Struct Reference

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: