MlcpPhysicsSolution.h
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// 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_MLCPPHYSICSSOLUTION_H
#define SURGSIM_PHYSICS_MLCPPHYSICSSOLUTION_H
#include "SurgSim/Math/MlcpSolution.h"
namespace SurgSim
{
namespace Physics
{
struct MlcpPhysicsSolution: public SurgSim::Math::MlcpSolution
{
Vector dofCorrection;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_MLCPPHYSICSSOLUTION_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::MlcpPhysicsSolution::dofCorrection
Vector dofCorrection
Corrections to all of the degrees of freedom needed to satisfy the system equations.
Definition: MlcpPhysicsSolution.h:37
MlcpSolution.h
SurgSim::Math::MlcpSolution::Vector
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
Definition: MlcpSolution.h:35
SurgSim::Math::MlcpSolution
The description of a solution to a mixed linear complementarity problem.
Definition: MlcpSolution.h:33
SurgSim::Physics::MlcpPhysicsSolution
The description of a solution to a physical MLCP problem.
Definition: MlcpPhysicsSolution.h:34