2011-10-23 17:52:20 +00:00
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/*
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2009-09-24 21:22:24 +00:00
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* Solver.hpp
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*
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* Created on: Jan 8, 2009
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* Author: rubensmits
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*/
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#ifndef SOLVER_HPP_
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#define SOLVER_HPP_
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#include <vector>
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#include "eigen_types.hpp"
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namespace iTaSC{
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class Solver{
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public:
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enum SolverParam {
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DLS_QMAX = 0,
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DLS_LAMBDA_MAX,
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DLS_EPSILON
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};
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virtual ~Solver(){};
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// gc = grouping of constraint output ,
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// size of vector = nc, alternance of true / false to indicate the grouping of output
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virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc)=0;
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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)=0;
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virtual void setParam(SolverParam param, double value)=0;
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};
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}
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#endif /* SOLVER_HPP_ */
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