iTaSC::Solver Class Reference

#include <Solver.hpp>

Inheritance diagram for iTaSC::Solver:

List of all members.

Public Types
enum	SolverParam { DLS_QMAX = 0, DLS_LAMBDA_MAX, DLS_EPSILON }
Public Member Functions
virtual	~Solver ()
virtual bool	init (unsigned int nq, unsigned int nc, const std::vector< bool > &gc)=0
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)=0
virtual void	setParam (SolverParam param, double value)=0

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Detailed Description

Definition at line 16 of file Solver.hpp.

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Member Enumeration Documentation

enum iTaSC::Solver::SolverParam

Enumerator:

DLS_QMAX
DLS_LAMBDA_MAX
DLS_EPSILON

Definition at line 18 of file Solver.hpp.

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Constructor & Destructor Documentation

virtual iTaSC::Solver::~Solver

(

)

[inline, virtual]

Definition at line 23 of file Solver.hpp.

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Member Function Documentation

virtual bool iTaSC::Solver::init	(	unsigned int	nq,
		unsigned int	nc,
		const std::vector< bool > &	gc
	)		[pure virtual]

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

virtual void iTaSC::Solver::setParam	(	SolverParam	param,
		double	value
	)		[pure virtual]

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Referenced by execute_scene().

virtual bool iTaSC::Solver::solve	(	const e_matrix &	A,
		const e_vector &	Wy,
		const e_vector &	ydot,
		const e_matrix &	Wq,
		e_vector &	qdot,
		e_scalar &	nlcoef
	)		[pure virtual]

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Referenced by iTaSC::Scene::update().

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The documentation for this class was generated from the following file:

• Solver.hpp