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Add python bindings for LCPUtils#86

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michguo wants to merge 22 commits intomasterkeenon/nimblephysics:masterfrom

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Commits on Mar 22, 2022

• Create LCPUtils.cpp under python/_nimblephysics/constraint.

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  3b3a55c

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• fix typo

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• add lcp utils to module.cpp

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• import missing header file

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• add binding for isLcpSolutionValid

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• fix typo

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• add default args and return type

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Commits on Mar 23, 2022

• get isLcpSolutionValid() to run in python without errors

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Commits on Mar 24, 2022

• create and call empty getLCPSolutionType function

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• add LcpSolutionType enum

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• make getLCPSolutionType return a LCPSolutionType

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• add python binding for getLCPSolutionType

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• add python binding for LCPSolutionType enum

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• add arguments for getLCPSolutionType

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• copy function body, assign return value to a variable

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• return boolean based on enum value

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• update solution types with different failure codes

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Commits on Mar 25, 2022

• refactor to check one constraint at a time

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• return vector of solution types

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• include stlh

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• add computeSlackFromLCPSolution()

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• fix typo

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