solver.cpp
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	/*
	_________________________________________________________________________
	* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
	* DESCRIPTION: SEE READ-ME *
	* FILE NAME: solver.cpp *
	* AUTHORS: See Author List *
	* GRANTS: See Grants List *
	* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
	* LICENSE: Please see License Agreement *
	* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
	* ADMINISTRATOR: Prof. Kurt Anderson *
	* Computational Dynamics Lab *
	* Rensselaer Polytechnic Institute *
	* 110 8th St. Troy NY 12180 *
	* CONTACT: anderk5@rpi.edu *
	_________________________________________________________________________/

	#include "solver.h"
	#include "system.h"
	#include "matrices.h"

	Solver::Solver(){

	}

	Solver::~Solver(){
	}

	void Solver::SetSystem(System* s){
	system = s;
	CreateModel();
	}

	void Solver::ComputeForces(){
	system->ComputeForces();
	}

	SolverType Solver::GetSolverType()
	{
	return type;
	}

	Solver * Solver::GetSolver(SolverType solverToMake) //returning a pointer to a new Solver object of the appropriate type
	{
	switch((int)solverToMake)
	{
	case ONSOLVER: return new OnSolver();
	default: return NULL;
	}
	}

	ColMatMap* Solver::GetState(){
	return &state;
	}

	ColMatMap* Solver::GetStateDerivative(){
	return &statedot;
	}

	ColMatMap* Solver::GetStateDerivativeDerivative(){
	return &statedoubledot;
	}