btLCP Struct Reference

Public Member Functions
	btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, btScalar *_lo, btScalar *_hi, btScalar *_L, btScalar *_d, btScalar *_Dell, btScalar *_ell, btScalar *_tmp, bool *_state, int *_findex, int *_p, int *_C, btScalar **Arows)
int	getNub () const
void	transfer_i_to_C (int i)
void	transfer_i_to_N (int i)
void	transfer_i_from_N_to_C (int i)
void	transfer_i_from_C_to_N (int i, btAlignedObjectArray< btScalar > &scratch)
int	numC () const
int	numN () const
int	indexC (int i) const
int	indexN (int i) const
btScalar	Aii (int i) const
btScalar	AiC_times_qC (int i, btScalar *q) const
btScalar	AiN_times_qN (int i, btScalar *q) const
void	pN_equals_ANC_times_qC (btScalar *p, btScalar *q)
void	pN_plusequals_ANi (btScalar *p, int i, int sign=1)
void	pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q)
void	pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q)
void	solve1 (btScalar *a, int i, int dir=1, int only_transfer=0)
void	unpermute ()

Public Attributes
const int	m_n
const int	m_nskip
int	m_nub
int	m_nC
int	m_nN
BTATYPE const	m_A
btScalar *const	m_x
btScalar *const *const	m_b
btScalar *const *const *const	m_w
btScalar *const *const *const *const	m_lo
btScalar *const *const *const *const *const	m_hi
btScalar *const	m_L
btScalar *const *const	m_d
btScalar *const	m_Dell
btScalar *const *const	m_ell
btScalar *const *const *const	m_tmp
bool *const	m_state
int *const	m_findex
int *const *const	m_p
int *const *const *const	m_C

Detailed Description

Definition at line 1188 of file btDantzigLCP.cpp.

Constructor & Destructor Documentation

btLCP::btLCP	(	int	_n,
		int	_nskip,
		int	_nub,
		btScalar *	_Adata,
		btScalar *	_x,
		btScalar *	_b,
		btScalar *	_w,
		btScalar *	_lo,
		btScalar *	_hi,
		btScalar *	_L,
		btScalar *	_d,
		btScalar *	_Dell,
		btScalar *	_ell,
		btScalar *	_tmp,
		bool *	_state,
		int *	_findex,
		int *	_p,
		int *	_C,
		btScalar **	Arows
	)

Definition at line 1226 of file btDantzigLCP.cpp.

Member Function Documentation

btScalar btLCP::AiC_times_qC ( int  i, btScalar *  q  ) const

inline

Definition at line 1215 of file btDantzigLCP.cpp.

btScalar btLCP::Aii ( int  i ) const

inline

Definition at line 1214 of file btDantzigLCP.cpp.

btScalar btLCP::AiN_times_qN ( int  i, btScalar *  q  ) const

inline

Definition at line 1216 of file btDantzigLCP.cpp.

int btLCP::getNub ( ) const

inline

Definition at line 1205 of file btDantzigLCP.cpp.

int btLCP::indexC ( int  i ) const

inline

Definition at line 1212 of file btDantzigLCP.cpp.

int btLCP::indexN ( int  i ) const

inline

Definition at line 1213 of file btDantzigLCP.cpp.

int btLCP::numC ( ) const

inline

Definition at line 1210 of file btDantzigLCP.cpp.

int btLCP::numN ( ) const

inline

Definition at line 1211 of file btDantzigLCP.cpp.

void btLCP::pC_plusequals_s_times_qC	(	btScalar *	p,
		btScalar	s,
		btScalar *	q
	)

Definition at line 1682 of file btDantzigLCP.cpp.

void btLCP::pN_equals_ANC_times_qC	(	btScalar *	p,
		btScalar *	q
	)

Definition at line 1651 of file btDantzigLCP.cpp.

void btLCP::pN_plusequals_ANi	(	btScalar *	p,
		int	i,
		int	sign = 1
	)

Definition at line 1667 of file btDantzigLCP.cpp.

void btLCP::pN_plusequals_s_times_qN	(	btScalar *	p,
		btScalar	s,
		btScalar *	q
	)

Definition at line 1690 of file btDantzigLCP.cpp.

void btLCP::solve1	(	btScalar *	a,
		int	i,
		int	dir = 1,
		int	only_transfer = 0
	)

Definition at line 1700 of file btDantzigLCP.cpp.

void btLCP::transfer_i_from_C_to_N	(	int	i,
		btAlignedObjectArray< btScalar > &	scratch
	)

Definition at line 1608 of file btDantzigLCP.cpp.

void btLCP::transfer_i_from_N_to_C

(

int

i

)

Definition at line 1377 of file btDantzigLCP.cpp.

void btLCP::transfer_i_to_C

(

int

i

)

Definition at line 1350 of file btDantzigLCP.cpp.

void btLCP::transfer_i_to_N ( int  i )

inline

Definition at line 1207 of file btDantzigLCP.cpp.

void btLCP::unpermute

(

)

Definition at line 1755 of file btDantzigLCP.cpp.

Member Data Documentation

BTATYPE const btLCP::m_A

Definition at line 1194 of file btDantzigLCP.cpp.

btScalar* const * const btLCP::m_b

Definition at line 1195 of file btDantzigLCP.cpp.

int* const * const * const btLCP::m_C

Definition at line 1199 of file btDantzigLCP.cpp.

btScalar* const * const btLCP::m_d

Definition at line 1196 of file btDantzigLCP.cpp.

btScalar* const btLCP::m_Dell

Definition at line 1197 of file btDantzigLCP.cpp.

btScalar* const * const btLCP::m_ell

Definition at line 1197 of file btDantzigLCP.cpp.

int* const btLCP::m_findex

Definition at line 1199 of file btDantzigLCP.cpp.

btScalar* const * const * const * const * const btLCP::m_hi

Definition at line 1195 of file btDantzigLCP.cpp.

btScalar* const btLCP::m_L

Definition at line 1196 of file btDantzigLCP.cpp.

btScalar* const * const * const * const btLCP::m_lo

Definition at line 1195 of file btDantzigLCP.cpp.

const int btLCP::m_n

Definition at line 1190 of file btDantzigLCP.cpp.

int btLCP::m_nC

Definition at line 1193 of file btDantzigLCP.cpp.

int btLCP::m_nN

Definition at line 1193 of file btDantzigLCP.cpp.

const int btLCP::m_nskip

Definition at line 1191 of file btDantzigLCP.cpp.

int btLCP::m_nub

Definition at line 1192 of file btDantzigLCP.cpp.

int* const * const btLCP::m_p

Definition at line 1199 of file btDantzigLCP.cpp.

bool* const btLCP::m_state

Definition at line 1198 of file btDantzigLCP.cpp.

btScalar* const * const * const btLCP::m_tmp

Definition at line 1197 of file btDantzigLCP.cpp.

btScalar* const * const * const btLCP::m_w

Definition at line 1195 of file btDantzigLCP.cpp.

btScalar* const btLCP::m_x

Definition at line 1195 of file btDantzigLCP.cpp.

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The documentation for this struct was generated from the following file:

• btDantzigLCP.cpp