/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _ODE_STEP_DART_PGS_WRAPPER_H_
#define _ODE_STEP_DART_PGS_WRAPPER_H_

#include <gazebo/ode/common.h>
void dSolveLCP_dart_pgs(int m, int mskip,  dReal *A, dReal *x, dReal *b,
        int nub, dReal *lo, dReal *hi, int *findex);

#endif
