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/* $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_ */
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