/usr/include/SurgSim/Math/OdeSolverLinearStatic.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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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 | // 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_ODESOLVERLINEARSTATIC_H
#define SURGSIM_MATH_ODESOLVERLINEARSTATIC_H
#include "SurgSim/Math/OdeSolverStatic.h"
namespace SurgSim
{
namespace Math
{
/// Linear version of the static ode solver
/// This solver assumes that the system is linear, ie that Stiffness matrix does not change.
class OdeSolverLinearStatic : public OdeSolverStatic
{
public:
/// Constructor
/// \param equation The ode equation to be solved
explicit OdeSolverLinearStatic(OdeEquation* equation);
/// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix.
/// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is.
void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override;
private:
/// Has the solver been initialized
bool m_initialized;
};
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_ODESOLVERLINEARSTATIC_H
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