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, 47 insertions, 0 deletions

diff --git a/intern/itasc/WDLSSolver.hpp b/intern/itasc/WDLSSolver.hpp
new file mode 100644
index 00000000000..4418e73675c
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+++ b/intern/itasc/WDLSSolver.hpp
@@ -0,0 +1,47 @@
+/* $Id: WDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+ * WDLSSolver.hpp
+ *
+ *  Created on: Jan 8, 2009
+ *      Author: rubensmits
+ */
+
+#ifndef WDLSSOLVER_HPP_
+#define WDLSSOLVER_HPP_
+
+#include "Solver.hpp"
+
+namespace iTaSC {
+
+class WDLSSolver: public iTaSC::Solver {
+private:
+    e_matrix m_AWq,m_WyAWq,m_U,m_V,m_WqV;
+    e_vector m_S,m_temp,m_Wy_ydot;
+    double m_lambda;
+    double m_epsilon;
+	double m_qmax;
+	int m_ns;
+public:
+    WDLSSolver();
+    virtual ~WDLSSolver();
+
+    virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc);
+    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);
+	virtual void setParam(SolverParam param, double value)
+	{
+		switch (param) {
+		case DLS_QMAX:
+			m_qmax = value;
+			break;
+		case DLS_LAMBDA_MAX:
+			m_lambda = value;
+			break;
+		case DLS_EPSILON:
+			m_epsilon = value;
+			break;
+		}	
+	}
+};
+
+}
+
+#endif /* WDLSSOLVER_HPP_ */