From 363feed12778e525e1c2758df197cb67b31032eb Mon Sep 17 00:00:00 2001
From: Michael Koval <mkoval@cs.cmu.edu>
Date: Thu, 17 Mar 2016 15:05:09 -0400
Subject: [PATCH 1/2] Added get/setLCPSolver to ConstraintSolver.

---
 dart/constraint/ConstraintSolver.cpp | 14 ++++++++++++++
 dart/constraint/ConstraintSolver.h   |  6 ++++++
 2 files changed, 20 insertions(+)

diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
index eb933407a9190..73acbe78cc027 100644
--- a/dart/constraint/ConstraintSolver.cpp
+++ b/dart/constraint/ConstraintSolver.cpp
@@ -261,6 +261,20 @@ collision::CollisionDetector* ConstraintSolver::getCollisionDetector() const
   return mCollisionDetector.get();
 }
 
+//==============================================================================
+void ConstraintSolver::setLCPSolver(std::unique_ptr<LCPSolver> _lcpSolver)
+{
+  assert(_lcpSolver && "Invalid LCP solver.");
+
+  mLCPSolver = std::move(_lcpSolver);
+}
+
+//==============================================================================
+LCPSolver* ConstraintSolver::getLCPSolver() const
+{
+  return mLCPSolver.get();
+}
+
 //==============================================================================
 void ConstraintSolver::solve()
 {
diff --git a/dart/constraint/ConstraintSolver.h b/dart/constraint/ConstraintSolver.h
index 8c662a7342a95..d159055f9e37a 100644
--- a/dart/constraint/ConstraintSolver.h
+++ b/dart/constraint/ConstraintSolver.h
@@ -115,6 +115,12 @@ class ConstraintSolver
   /// Get collision detector
   collision::CollisionDetector* getCollisionDetector() const;
 
+  /// Set LCP solver
+  void setLCPSolver(std::unique_ptr<LCPSolver> _lcpSolver);
+
+  /// Get LCP solver
+  LCPSolver* getLCPSolver() const;
+
   /// Solve constraint impulses and apply them to the skeletons
   void solve();
 

From cd667d6a09e2522dbeb02a7d497aa951858016d1 Mon Sep 17 00:00:00 2001
From: Michael Koval <mkoval@cs.cmu.edu>
Date: Thu, 17 Mar 2016 15:05:36 -0400
Subject: [PATCH 2/2] Switch to taking unique_ptr by value.

See this StackOverflow post for justification:
http://stackoverflow.com/a/8114913/111426
---
 dart/constraint/ConstraintSolver.cpp | 2 +-
 dart/constraint/ConstraintSolver.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
index 73acbe78cc027..d877348f00a81 100644
--- a/dart/constraint/ConstraintSolver.cpp
+++ b/dart/constraint/ConstraintSolver.cpp
@@ -243,7 +243,7 @@ void ConstraintSolver::setCollisionDetector(
 
 //==============================================================================
 void ConstraintSolver::setCollisionDetector(
-  std::unique_ptr<collision::CollisionDetector>&& _collisionDetector)
+  std::unique_ptr<collision::CollisionDetector> _collisionDetector)
 {
   assert(_collisionDetector && "Invalid collision detector.");
 
diff --git a/dart/constraint/ConstraintSolver.h b/dart/constraint/ConstraintSolver.h
index d159055f9e37a..aa01a7a18e1a8 100644
--- a/dart/constraint/ConstraintSolver.h
+++ b/dart/constraint/ConstraintSolver.h
@@ -110,7 +110,7 @@ class ConstraintSolver
 
   /// Set collision detector
   void setCollisionDetector(
-    std::unique_ptr<collision::CollisionDetector>&& _collisionDetector);
+    std::unique_ptr<collision::CollisionDetector> _collisionDetector);
 
   /// Get collision detector
   collision::CollisionDetector* getCollisionDetector() const;