iTaSC::Solver Class Reference

#include <Solver.hpp>

Inherited by iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Public Types
enum	SolverParam { DLS_QMAX = 0 , DLS_LAMBDA_MAX , DLS_EPSILON }

Public Member Functions
virtual	~Solver ()
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

Detailed Description

Definition at line 17 of file Solver.hpp.

Member Enumeration Documentation

SolverParam

enum iTaSC::Solver::SolverParam

Enumerator
DLS_QMAX
DLS_LAMBDA_MAX
DLS_EPSILON

Definition at line 19 of file Solver.hpp.

Constructor & Destructor Documentation

~Solver()

virtual iTaSC::Solver::~Solver ( )

inlinevirtual

Definition at line 24 of file Solver.hpp.

Member Function Documentation

init()

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

pure virtual

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Referenced by iTaSC::Scene::initialize().

setParam()

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

pure virtual

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Referenced by execute_scene().

solve()

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

pure virtual

Implemented in iTaSC::WDLSSolver, and iTaSC::WSDLSSolver.

Referenced by iTaSC::Scene::update().

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

• Solver.hpp