1 files changed, 33 insertions, 0 deletions
diff --git a/intern/itasc/Solver.hpp b/intern/itasc/Solver.hpp
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+++ b/intern/itasc/Solver.hpp
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+/* $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_ */