2011-10-23 17:52:20 +00:00
|
|
|
/*
|
2009-09-24 21:22:24 +00:00
|
|
|
* WDLSSolver.hpp
|
|
|
|
|
*
|
|
|
|
|
* Created on: Jan 8, 2009
|
|
|
|
|
* Author: rubensmits
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#ifndef WDLSSOLVER_HPP_
|
|
|
|
|
#define WDLSSOLVER_HPP_
|
|
|
|
|
|
|
|
|
|
#include "Solver.hpp"
|
|
|
|
|
|
|
|
|
|
namespace iTaSC {
|
|
|
|
|
|
|
|
|
|
class WDLSSolver: public iTaSC::Solver {
|
|
|
|
|
private:
|
2009-09-27 16:20:42 +00:00
|
|
|
e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
|
2009-09-24 21:22:24 +00:00
|
|
|
e_vector m_S,m_temp,m_Wy_ydot;
|
|
|
|
|
double m_lambda;
|
|
|
|
|
double m_epsilon;
|
|
|
|
|
double m_qmax;
|
|
|
|
|
int m_ns;
|
2009-09-27 16:20:42 +00:00
|
|
|
bool m_transpose;
|
2009-09-24 21:22:24 +00:00
|
|
|
public:
|
|
|
|
|
WDLSSolver();
|
|
|
|
|
virtual ~WDLSSolver();
|
|
|
|
|
|
|
|
|
|
virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc);
|
|
|
|
|
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);
|
|
|
|
|
virtual void setParam(SolverParam param, double value)
|
|
|
|
|
{
|
|
|
|
|
switch (param) {
|
|
|
|
|
case DLS_QMAX:
|
|
|
|
|
m_qmax = value;
|
|
|
|
|
break;
|
|
|
|
|
case DLS_LAMBDA_MAX:
|
|
|
|
|
m_lambda = value;
|
|
|
|
|
break;
|
|
|
|
|
case DLS_EPSILON:
|
|
|
|
|
m_epsilon = value;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif /* WDLSSOLVER_HPP_ */
|
