math/lcp: refactor solver infrastructure #2318
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# Conflicts: # dart/constraint/BoxedLcpConstraintSolver.cpp # dart/constraint/DantzigLCPSolver.cpp # dart/constraint/PGSLCPSolver.cpp # dart/math/lcp/All.hpp # dart/math/lcp/CMakeLists.txt # dart/math/lcp/ODELCPSolver.cpp # dart/math/lcp/pivoting/DantzigSolver.hpp # dart/math/lcp/pivoting/LemkeSolver.cpp # dart/math/lcp/pivoting/LemkeSolver.hpp # docs/onboarding/constraints.md
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Co-authored-by: Jeongseok Lee <[email protected]>
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The public umbrella header dart/lcpsolver/All.hpp now only contains #pragma once and no longer re-exports any solver definitions. Because dart/lcpsolver/lcpsolver.hpp just includes this file, any downstream code that previously relied on these headers (e.g., Lemke, ODELCPSolver, or the deprecated lcpsolver namespace) will now compile to an empty header and fail to find the expected types. This is a new regression from the commit; the pre-change version re-exported the legacy solvers. Please keep the deprecated includes (or forward to the new dart/math/lcp headers) so existing users don’t break.
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This PR refactors DART\x27s LCP solver stack and updates docs/tests accordingly.
Highlights:
dart/math/lcp(problem/options/result + validation).dart::math::LcpSolverAPI (Dantzig, Lemke, PGS + relaxation).tests/unit/math/lcp.Notes: