1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
34
35 #include "dart/external/odelcpsolver/lcp.h"
36
37 namespace dart {
38 namespace constraint {
39
40 //==============================================================================
getType() const41 const std::string& DantzigBoxedLcpSolver::getType() const
42 {
43 return getStaticType();
44 }
45
46 //==============================================================================
getStaticType()47 const std::string& DantzigBoxedLcpSolver::getStaticType()
48 {
49 static const std::string type = "DantzigBoxedLcpSolver";
50 return type;
51 }
52
53 //==============================================================================
solve(int n,double * A,double * x,double * b,int,double * lo,double * hi,int * findex,bool earlyTermination)54 bool DantzigBoxedLcpSolver::solve(
55 int n,
56 double* A,
57 double* x,
58 double* b,
59 int /*nub*/,
60 double* lo,
61 double* hi,
62 int* findex,
63 bool earlyTermination)
64 {
65 return external::ode::dSolveLCP(
66 n, A, x, b, nullptr, 0, lo, hi, findex, earlyTermination);
67 }
68
69 #ifndef NDEBUG
70 //==============================================================================
canSolve(int,const double *)71 bool DantzigBoxedLcpSolver::canSolve(int /*n*/, const double* /*A*/)
72 {
73 // TODO(JS): Not implemented.
74 return true;
75 }
76 #endif
77
78 } // namespace constraint
79 } // namespace dart
80