50 lines
1006 B
C++
50 lines
1006 B
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#ifndef WDLSSOLVER_HPP_
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#define WDLSSOLVER_HPP_
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#include "Solver.hpp"
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namespace iTaSC {
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class WDLSSolver: public iTaSC::Solver {
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private:
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e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
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e_vector m_S,m_temp,m_Wy_ydot;
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double m_lambda;
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double m_epsilon;
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double m_qmax;
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int m_ns;
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bool m_transpose;
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public:
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WDLSSolver();
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virtual ~WDLSSolver();
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virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc);
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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);
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virtual void setParam(SolverParam param, double value)
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{
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switch (param) {
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case DLS_QMAX:
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m_qmax = value;
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break;
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case DLS_LAMBDA_MAX:
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m_lambda = value;
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break;
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case DLS_EPSILON:
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m_epsilon = value;
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break;
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}
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}
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};
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}
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#endif /* WDLSSOLVER_HPP_ */
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