WDLSSolver.hpp

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