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16 March 2020, 03:50:51 UTC
Revision a6d03813fc8cd8b58edc6b3cef6b2f732f4d9d36 authored by Nick Weidner on 07 September 2018, 18:25:33 UTC, committed by Nick Weidner on 07 September 2018, 18:25:33 UTC
Point fix
1 parent 09335f4
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Tip revision: a6d03813fc8cd8b58edc6b3cef6b2f732f4d9d36 authored by Nick Weidner on 07 September 2018, 18:25:33 UTC
Point fix
Tip revision: a6d0381
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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