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/* SPDX-License-Identifier: LGPL-2.1-or-later
* Copyright 2009 Ruben Smits. */
/** \file
* \ingroup intern_itasc
*/
#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_ */
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