#include <btLemkeAlgorithm.h>
Definition at line 32 of file btLemkeAlgorithm.h.
 
  
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          | btLemkeAlgorithm::btLemkeAlgorithm | ( | const btMatrixXu & | M_, |  
          |  |  | const btVectorXu & | q_, |  
          |  |  | const int & | DEBUGLEVEL_ = 0 |  
          |  | ) |  |  |  | inline | 
 
 
  
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          | virtual btLemkeAlgorithm::~btLemkeAlgorithm | ( |  | ) |  |  | inlinevirtual | 
 
 
  
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          | int btLemkeAlgorithm::findLexicographicMinimum | ( | const btMatrixXu & | A, |  
          |  |  | const int & | pivotColIndex |  
          |  | ) |  |  |  | protected | 
 
 
  
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          | void btLemkeAlgorithm::GaussJordanEliminationStep | ( | btMatrixXu & | A, |  
          |  |  | int | pivotRowIndex, |  
          |  |  | int | pivotColumnIndex, |  
          |  |  | const btAlignedObjectArray< int > & | basis |  
          |  | ) |  |  |  | protected | 
 
 
  
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          | int btLemkeAlgorithm::getInfo | ( |  | ) |  |  | inline | 
 
 
  
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          | int btLemkeAlgorithm::getSteps | ( | void |  | ) |  |  | inline | 
 
get the number of steps until the solution was found 
Definition at line 54 of file btLemkeAlgorithm.h.
 
 
  
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          | bool btLemkeAlgorithm::greaterZero | ( | const btVectorXu & | vector | ) |  |  | protected | 
 
 
  
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          | bool btLemkeAlgorithm::LexicographicPositive | ( | const btVectorXu & | v | ) |  |  | protected | 
 
 
      
        
          | btVectorXu btLemkeAlgorithm::solve | ( | unsigned int | maxloops = 0 | ) |  | 
      
 
solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. 
Lloyd) 
Definition at line 63 of file btLemkeAlgorithm.cpp.
 
 
  
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          | int btLemkeAlgorithm::DEBUGLEVEL |  | protected | 
 
 
  
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          | int btLemkeAlgorithm::info |  | protected | 
 
did the algorithm find a solution 
-1 : not successful 0 : successful 
Definition at line 104 of file btLemkeAlgorithm.h.
 
 
  
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          | unsigned int btLemkeAlgorithm::steps |  | protected | 
 
number of steps until the Lemke algorithm found a solution 
Definition at line 91 of file btLemkeAlgorithm.h.
 
 
The documentation for this class was generated from the following files: