From 2f8d7092bc2c9609fa98d6888106b96f38b22828 Mon Sep 17 00:00:00 2001 From: dan miller Date: Sun, 21 Oct 2007 08:36:32 +0000 Subject: libraries moved to opensim-libs, a new repository --- libraries/ode-0.9/ode/src/lcp.h | 58 ----------------------------------------- 1 file changed, 58 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/lcp.h (limited to 'libraries/ode-0.9/ode/src/lcp.h') diff --git a/libraries/ode-0.9/ode/src/lcp.h b/libraries/ode-0.9/ode/src/lcp.h deleted file mode 100644 index 484902c..0000000 --- a/libraries/ode-0.9/ode/src/lcp.h +++ /dev/null @@ -1,58 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - -given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i) -satisfies one of - (1) x = lo, w >= 0 - (2) x = hi, w <= 0 - (3) lo < x < hi, w = 0 -A is a matrix of dimension n*n, everything else is a vector of size n*1. -lo and hi can be +/- dInfinity as needed. the first `nub' variables are -unbounded, i.e. hi and lo are assumed to be +/- dInfinity. - -we restrict lo(i) <= 0 and hi(i) >= 0. - -the original data (A,b) may be modified by this function. - -if the `findex' (friction index) parameter is nonzero, it points to an array -of index values. in this case constraints that have findex[i] >= 0 are -special. all non-special constraints are solved for, then the lo and hi values -for the special constraints are set: - hi[i] = abs( hi[i] * x[findex[i]] ) - lo[i] = -hi[i] -and the solution continues. this mechanism allows a friction approximation -to be implemented. the first `nub' variables are assumed to have findex < 0. - -*/ - - -#ifndef _ODE_LCP_H_ -#define _ODE_LCP_H_ - - -void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w, - int nub, dReal *lo, dReal *hi, int *findex); - - -#endif -- cgit v1.1