Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

1 files changed, 33 insertions, 0 deletions

diff --git a/intern/itasc/Solver.hpp b/intern/itasc/Solver.hpp
new file mode 100644
index 00000000000..e3aa1e1abc8
--- /dev/null
+++ b/intern/itasc/Solver.hpp
@@ -0,0 +1,33 @@
+/* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+ * Solver.hpp
+ *
+ *  Created on: Jan 8, 2009
+ *      Author: rubensmits
+ */
+
+#ifndef SOLVER_HPP_
+#define SOLVER_HPP_
+
+#include <vector>
+#include "eigen_types.hpp"
+
+namespace iTaSC{
+
+class Solver{
+public:
+	enum SolverParam {
+		DLS_QMAX = 0,
+		DLS_LAMBDA_MAX,
+		DLS_EPSILON
+	};
+    virtual ~Solver(){};
+
+	// gc = grouping of constraint output , 
+	//      size of vector = nc, alternance of true / false to indicate the grouping of output
+	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;
+};
+
+}
+#endif /* SOLVER_HPP_ */