BuildMlcp.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_BUILDMLCP_H
17 #define SURGSIM_PHYSICS_BUILDMLCP_H
18 
20 
21 namespace SurgSim
22 {
23 namespace Physics
24 {
25 
27 class BuildMlcp : public Computation
28 {
29 public:
32  explicit BuildMlcp(bool doCopyState = false);
33 
35  virtual ~BuildMlcp();
36 
37 protected:
39  virtual std::shared_ptr<PhysicsManagerState>
40  doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state) override;
41 };
42 
43 }; // namespace Physics
44 }; // namespace SurgSim
45 
46 #endif // SURGSIM_PHYSICS_BUILDMLCP_H
Definition: DriveElementFromInputBehavior.cpp:27
virtual ~BuildMlcp()
Destructor.
Definition: BuildMlcp.cpp:36
Build an mlcp from a list of constraints stored in a PhysicsManagerState.
Definition: BuildMlcp.h:27
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:30
BuildMlcp(bool doCopyState=false)
Constructor.
Definition: BuildMlcp.cpp:33
virtual std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override doUpdate from superclass.
Definition: BuildMlcp.cpp:40