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16 March 2020, 03:50:51 UTC
Revision 28fad2e07ec31f0dfd2c681878904e707f6715d5 authored by Shinjiro Sueda on 11 September 2018, 15:17:28 UTC, committed by GitHub on 11 September 2018, 15:17:28 UTC
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Tip revision: 28fad2e07ec31f0dfd2c681878904e707f6715d5 authored by Shinjiro Sueda on 11 September 2018, 15:17:28 UTC
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Tip revision: 28fad2e
GeneralizedSolver.h
#pragma once
#ifndef __GeneralizedSolver__
#define __GeneralizedSolver__

#include <vector>
#include <memory>

#define EIGEN_DONT_ALIGN_STATICALLY
#include <Eigen/Dense>
#include <Eigen/Sparse>

class GeneralizedSolver
{
public:
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

		GeneralizedSolver();
	virtual ~GeneralizedSolver() {};

	enum Solver {
		NoSolver = 0, Mosek = 1, Gurobi = 2
	};

	int whichSolver;

	bool velocitySolve(const bool& fixedPoints, const bool& collisions,
		Eigen::SparseMatrix<double>& MDK, const Eigen::VectorXd& b,
		Eigen::SparseMatrix<double>& Aeq, const Eigen::VectorXd& beq,
		Eigen::SparseMatrix<double>& Aineq, const Eigen::VectorXd& bineq,
		Eigen::VectorXd& v);

};

#endif
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