merge from 23153 to 23595soc-2009-imbusy

1 files changed, 43 insertions, 0 deletions

diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp
new file mode 100644
index 00000000000..0b17f26ef47
--- /dev/null
+++ b/intern/itasc/WSDLSSolver.hpp
@@ -0,0 +1,43 @@
+/* $Id: WSDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+ * WSDLSSolver.hpp
+ *
+ *  Created on: Mar 26, 2009
+ *      Author: benoit bolsee
+ */
+
+#ifndef WSDLSSOLVER_HPP_
+#define WSDLSSOLVER_HPP_
+
+#include "Solver.hpp"
+
+namespace iTaSC {
+
+class WSDLSSolver: public iTaSC::Solver {
+private:
+    e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
+    e_vector m_S,m_temp,m_Wy_ydot;
+	std::vector<bool> m_ytask;
+	e_scalar m_qmax;
+	unsigned int m_ns, m_nc, m_nq;
+	bool m_transpose;
+public:
+    WSDLSSolver();
+    virtual ~WSDLSSolver();
+
+    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;
+		default:
+			break;
+		}
+	}
+};
+
+}
+
+#endif /* WSDLSSOLVER_HPP_ */