Blender V2.61 - r43446

WSDLSSolver.hpp

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00001 /*
00002  * WSDLSSolver.hpp
00003  *
00004  *  Created on: Mar 26, 2009
00005  *      Author: benoit bolsee
00006  */
00007 
00008 #ifndef WSDLSSOLVER_HPP_
00009 #define WSDLSSOLVER_HPP_
00010 
00011 #include "Solver.hpp"
00012 
00013 namespace iTaSC {
00014 
00015 class WSDLSSolver: public iTaSC::Solver {
00016 private:
00017     e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
00018     e_vector m_S,m_temp,m_Wy_ydot;
00019     std::vector<bool> m_ytask;
00020     e_scalar m_qmax;
00021     unsigned int m_ns, m_nc, m_nq;
00022     bool m_transpose;
00023 public:
00024     WSDLSSolver();
00025     virtual ~WSDLSSolver();
00026 
00027     virtual bool init(unsigned int _nq, unsigned int _nc, const std::vector<bool>& gc);
00028     virtual bool solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef);
00029     virtual void setParam(SolverParam param, double value)
00030     {
00031         switch (param) {
00032         case DLS_QMAX:
00033             m_qmax = value;
00034             break;
00035         default:
00036             break;
00037         }
00038     }
00039 };
00040 
00041 }
00042 
00043 #endif /* WSDLSSOLVER_HPP_ */