45 lines
938 B
C++
45 lines
938 B
C++
/* SPDX-FileCopyrightText: 2009 Benoit Bolsee
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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 WSDLSSOLVER_HPP_
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#define WSDLSSOLVER_HPP_
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#include "Solver.hpp"
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namespace iTaSC {
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class WSDLSSolver: 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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std::vector<bool> m_ytask;
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e_scalar m_qmax;
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unsigned int m_ns, m_nc, m_nq;
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bool m_transpose;
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public:
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WSDLSSolver();
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virtual ~WSDLSSolver();
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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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default:
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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 /* WSDLSSOLVER_HPP_ */
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