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/*
* 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_WyAWqt,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;
bool m_transpose;
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_ */
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