Solver.hpp

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/* SPDX-FileCopyrightText: 2009 Ruben Smits
 *
 * SPDX-License-Identifier: LGPL-2.1-or-later */
 
#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_ */