/usr/include/SurgSim/Math/MlcpSolver.h is in libopensurgsim-dev 0.7.0-5.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_MLCPSOLVER_H
#define SURGSIM_MATH_MLCPSOLVER_H
namespace SurgSim
{
namespace Math
{
struct MlcpProblem;
struct MlcpSolution;
/// This class provides a solver interface for mixed linear complementarity problems.
///
/// \sa MlcpProblem
class MlcpSolver
{
public:
/// Constructor.
MlcpSolver()
{
}
// Destructor.
virtual ~MlcpSolver()
{
}
/// Attempts to solve the specified MLCP problem.
/// \param problem the MLCP problem.
/// \param [out] solution the solution to the problem, if available.
/// \return true if solved (in which case solution will be set to the solution); false if failed.
virtual bool solve(const MlcpProblem& problem, MlcpSolution* solution) = 0;
private:
/// Prevent copy construction and assignment.
MlcpSolver(const MlcpSolver&);
MlcpSolver& operator==(const MlcpSolver&);
};
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_MLCPSOLVER_H
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