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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"
28 #include "simbody/internal/common.h"
29 #include "simbody/internal/MultibodySystem.h"
30 
31 namespace SimTK {
32 
38 class SimTK_SIMBODY_EXPORT LocalEnergyMinimizer {
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_