Blender: iTaSC::WDLSSolver Class Reference

Blender V4.3

#include <WDLSSolver.hpp>

Inherits iTaSC::Solver.

Public Member Functions
	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)

Public Member Functions inherited from iTaSC::Solver
virtual	~Solver ()

Additional Inherited Members
Public Types inherited from iTaSC::Solver
enum	SolverParam { DLS_QMAX = 0 , DLS_LAMBDA_MAX , DLS_EPSILON }

Detailed Description

Definition at line 16 of file WDLSSolver.hpp.

Constructor & Destructor Documentation

◆ WDLSSolver()

iTaSC::WDLSSolver::WDLSSolver ( )

Definition at line 14 of file WDLSSolver.cpp.

◆ ~WDLSSolver()

iTaSC::WDLSSolver::~WDLSSolver ( )

virtual

Definition at line 20 of file WDLSSolver.cpp.

Member Function Documentation

◆ init()

bool iTaSC::WDLSSolver::init	(	unsigned int	nq,
		unsigned int	nc,
		const std::vector< bool > &	gc )

virtual

Implements iTaSC::Solver.

Definition at line 23 of file WDLSSolver.cpp.

References e_zero_matrix, and e_zero_vector.

◆ setParam()

virtual void iTaSC::WDLSSolver::setParam	(	SolverParam	param,
		double	value )

inlinevirtual

Implements iTaSC::Solver.

Definition at line 31 of file WDLSSolver.hpp.

References iTaSC::Solver::DLS_EPSILON, iTaSC::Solver::DLS_LAMBDA_MAX, and iTaSC::Solver::DLS_QMAX.

◆ solve()

bool iTaSC::WDLSSolver::solve	(	const e_matrix &	A,
		const e_vector &	Wy,
		const e_vector &	ydot,
		const e_matrix &	Wq,
		e_vector &	qdot,
		e_scalar &	nlcoef )

virtual

Implements iTaSC::Solver.

Definition at line 47 of file WDLSSolver.cpp.

References e_scalar, KDL::epsilon, fabs(), norm(), ret, KDL::sqr(), and KDL::svd_eigen_HH().

The documentation for this class was generated from the following files: