/usr/include/SurgSim/Physics/SolveMlcp.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 | // 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_PHYSICS_SOLVEMLCP_H
#define SURGSIM_PHYSICS_SOLVEMLCP_H
#include <memory>
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/MlcpGaussSeidelSolver.h"
#include "SurgSim/Physics/Computation.h"
namespace SurgSim
{
namespace Physics
{
/// Solve the system Mixed Linear Complementarity Problem (Mlcp)
class SolveMlcp : public Computation
{
public:
/// Constructor
/// \param doCopyState Specify if the ouput state is a copy or not of the input state in Computation::Update()
explicit SolveMlcp(bool doCopyState = false);
SURGSIM_CLASSNAME(SurgSim::Physics::SolveMlcp);
/// Destructor
virtual ~SolveMlcp();
/// Set the maximum number of iterations for the MLCP solver.
/// \param maxIterations The maximum number of iterations.
void setMaxIterations(size_t maxIterations);
/// Get the maximum number of iterations for the MLCP solver.
/// \return The maximum number of iterations.
size_t getMaxIterations() const;
/// Set the precision of the MLCP solver.
/// \param epsilon The precision.
void setPrecision(double epsilon);
/// Get the precision of the MLCP solver.
/// \return The precision.
double getPrecision() const;
/// Set the contact tolerance for the MLCP solver.
/// \param epsilon The contact tolerance.
void setContactTolerance(double epsilon);
/// Get the contact tolerance for the MLCP solver.
/// \return The contact tolerance.
double getContactTolerance() const;
protected:
/// Override doUpdate from superclass
/// \param dt The time step
/// \param state The Physics manager state
/// \return The updated physics manager state (input updated or copied updated)
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
override;
private:
/// The Gauss-Seidel Mlcp solver
SurgSim::Math::MlcpGaussSeidelSolver m_gaussSeidelSolver;
};
}; // Physics
}; // SurgSim
#endif // SURGSIM_PHYSICS_SOLVEMLCP_H
|