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Blender
V2.59
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00001 /* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ 00002 * Solver.hpp 00003 * 00004 * Created on: Jan 8, 2009 00005 * Author: rubensmits 00006 */ 00007 00008 #ifndef SOLVER_HPP_ 00009 #define SOLVER_HPP_ 00010 00011 #include <vector> 00012 #include "eigen_types.hpp" 00013 00014 namespace iTaSC{ 00015 00016 class Solver{ 00017 public: 00018 enum SolverParam { 00019 DLS_QMAX = 0, 00020 DLS_LAMBDA_MAX, 00021 DLS_EPSILON 00022 }; 00023 virtual ~Solver(){}; 00024 00025 // gc = grouping of constraint output , 00026 // size of vector = nc, alternance of true / false to indicate the grouping of output 00027 virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc)=0; 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)=0; 00029 virtual void setParam(SolverParam param, double value)=0; 00030 }; 00031 00032 } 00033 #endif /* SOLVER_HPP_ */