blender/intern/itasc/Solver.hpp
Joseph Eagar 8f788c64db merge with trunk/2.5 at r23876
[[Split portion of a mixed commit.]]
2009-10-22 23:22:05 +00:00

34 lines
808 B
C++

/* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
* Solver.hpp
*
* Created on: Jan 8, 2009
* Author: rubensmits
*/
#ifndef SOLVER_HPP_
#define SOLVER_HPP_
#include <vector>
#include "eigen_types.hpp"
namespace iTaSC{
class Solver{
public:
enum SolverParam {
DLS_QMAX = 0,
DLS_LAMBDA_MAX,
DLS_EPSILON
};
virtual ~Solver(){};
// gc = grouping of constraint output ,
// size of vector = nc, alternance of true / false to indicate the grouping of output
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;
};
}
#endif /* SOLVER_HPP_ */