Simbody  3.5
LocalEnergyMinimizer.h
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1 #ifndef SimTK_SIMBODY_LOCAL_ENERGY_MINIMIZER_H_
2 #define SimTK_SIMBODY_LOCAL_ENERGY_MINIMIZER_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2007-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon.h"
30 
31 namespace SimTK {
32 
39 public:
50  static void minimizeEnergy(const MultibodySystem& system, State& state, Real tolerance);
51 private:
52  class OptimizerFunction;
53 };
54 
55 } // namespace SimTK
56 
57 #endif // SimTK_SIMBODY_LOCAL_ENERGY_MINIMIZER_H_
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Every Simbody header and source file should include this header before any other Simbody header...
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This class performs local potential energy minimization of a MultibodySystem.
Definition: LocalEnergyMinimizer.h:38
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72