/*
 * Copyright (c) 2011-2022, The DART development contributors
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 *   without modification, are permitted provided that the following
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#ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
#define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_

#include <cstddef>

#include "dart/config.hpp"
#include "dart/constraint/LCPSolver.hpp"

namespace dart {
namespace constraint {

/// \deprecated This header has been deprecated in DART 6.7. Please include
/// DantzigBoxedLcpSolver.hpp intead.
///
/// DantzigLCPSolver is a LCP solver that uses ODE's implementation of Dantzig
/// algorithm
class DantzigLCPSolver : public LCPSolver
{
public:
  /// Constructor
  explicit DantzigLCPSolver(double _timestep);

  /// Constructor
  virtual ~DantzigLCPSolver();

  // Documentation inherited
  void solve(ConstrainedGroup* _group) override;

#ifndef NDEBUG
private:
  /// Return true if the matrix is symmetric
  bool isSymmetric(std::size_t _n, double* _A);

  /// Return true if the diagonla block of matrix is symmetric
  bool isSymmetric(
      std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);

  /// Print debug information
  void print(
      std::size_t _n,
      double* _A,
      double* _x,
      double* _lo,
      double* _hi,
      double* _b,
      double* w,
      int* _findex);
#endif
};

} // namespace constraint
} // namespace dart

#endif // DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
