16 #ifndef SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H 17 #define SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H 20 #include <Eigen/SparseCore> 68 template <
typename SubCDerivedType>
70 const Eigen::SparseVector<double>& newSubH,
71 const Eigen::MatrixBase<SubCDerivedType>& subC,
79 virtual void setZero(
size_t numDof,
size_t numConstraintDof,
size_t numConstraints)
override;
94 #endif // SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H virtual ~MlcpPhysicsProblem() override
Destructor.
Definition: MlcpPhysicsProblem.cpp:24
Definition: DriveElementFromInputBehavior.cpp:27
Matrix CHt
The matrix , which is a matrix of size that is used to convert the vector of constraint forces to t...
Definition: MlcpPhysicsProblem.h:60
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
virtual void setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints) override
Resize an MlcpPhysicsProblem and set to zero.
Definition: MlcpPhysicsProblem.cpp:28
Matrix H
The matrix , which is a matrix of size that converts from the degrees of freedom in the system (i...
Definition: MlcpPhysicsProblem.h:56
static MlcpPhysicsProblem Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints)
Initialize an MlcpPhysicsProblem with zero values.
Definition: MlcpPhysicsProblem.cpp:38
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: MlcpProblem.h:62
A description of an MLCP (mixed linear complementarity problem, or mixed LCP) system to be solved...
Definition: MlcpProblem.h:57
void updateConstraint(const Eigen::SparseVector< double > &newSubH, const Eigen::MatrixBase< SubCDerivedType > &subC, size_t indexSubC, size_t indexNewSubH)
Applies a new constraint to a specific Representation.
Definition: MlcpPhysicsProblem-inl.h:27