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Blender
V2.59
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00001 /* $Id: WSDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ 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_ */