Simbody  3.5
SimTK::PLUSImpulseSolver Class Reference

TODO: PLUS (Poisson-Lankarani-Uchida-Sherman) impulse solver. More...

+ Inheritance diagram for SimTK::PLUSImpulseSolver:

List of all members.

Public Member Functions

 PLUSImpulseSolver (Real roll2slipTransitionSpeed)
bool solve (int phase, const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Array_< MultiplierIndex > &expanding, Vector &piExpand, Vector &verrStart, Vector &verrApplied, Vector &pi, Array_< UncondRT > &unconditional, Array_< UniContactRT > &uniContact, Array_< UniSpeedRT > &uniSpeed, Array_< BoundedRT > &bounded, Array_< ConstraintLtdFrictionRT > &consLtdFriction, Array_< StateLtdFrictionRT > &stateLtdFriction) const override
 Solve with conditional constraints.
bool solveBilateral (const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Vector &rhs, Vector &pi) const override
 Solve with only unconditional constraints.
 SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE (PLUSImpulseSolver, ActiveIndex)

Detailed Description

TODO: PLUS (Poisson-Lankarani-Uchida-Sherman) impulse solver.


Constructor & Destructor Documentation

SimTK::PLUSImpulseSolver::PLUSImpulseSolver ( Real  roll2slipTransitionSpeed) [inline, explicit]

Member Function Documentation

bool SimTK::PLUSImpulseSolver::solve ( int  phase,
const Array_< MultiplierIndex > &  participating,
const Matrix A,
const Vector D,
const Array_< MultiplierIndex > &  expanding,
Vector piExpand,
Vector verrStart,
Vector verrApplied,
Vector pi,
Array_< UncondRT > &  unconditional,
Array_< UniContactRT > &  uniContact,
Array_< UniSpeedRT > &  uniSpeed,
Array_< BoundedRT > &  bounded,
Array_< ConstraintLtdFrictionRT > &  consLtdFriction,
Array_< StateLtdFrictionRT > &  stateLtdFriction 
) const [override, virtual]

Solve with conditional constraints.

Implements SimTK::ImpulseSolver.

bool SimTK::PLUSImpulseSolver::solveBilateral ( const Array_< MultiplierIndex > &  participating,
const Matrix A,
const Vector D,
const Vector rhs,
Vector pi 
) const [override, virtual]

Solve with only unconditional constraints.

Implements SimTK::ImpulseSolver.


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