Blender  V3.3
Public Types | Public Member Functions | List of all members
iTaSC::Solver Class Referenceabstract

#include <Solver.hpp>

Inheritance diagram for iTaSC::Solver:
iTaSC::WDLSSolver iTaSC::WSDLSSolver

Public Types

enum  SolverParam { DLS_QMAX = 0 , DLS_LAMBDA_MAX , DLS_EPSILON }
 

Public Member Functions

virtual ~Solver ()
 
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
 

Detailed Description

Definition at line 16 of file Solver.hpp.

Member Enumeration Documentation

◆ SolverParam

Enumerator
DLS_QMAX 
DLS_LAMBDA_MAX 
DLS_EPSILON 

Definition at line 18 of file Solver.hpp.

Constructor & Destructor Documentation

◆ ~Solver()

virtual iTaSC::Solver::~Solver ( )
inlinevirtual

Definition at line 23 of file Solver.hpp.

Member Function Documentation

◆ init()

virtual bool iTaSC::Solver::init ( unsigned int  nq,
unsigned int  nc,
const std::vector< bool > &  gc 
)
pure virtual

◆ setParam()

virtual void iTaSC::Solver::setParam ( SolverParam  param,
double  value 
)
pure virtual

Implemented in iTaSC::WSDLSSolver, and iTaSC::WDLSSolver.

Referenced by execute_scene().

◆ solve()

virtual bool iTaSC::Solver::solve ( const e_matrix A,
const e_vector Wy,
const e_vector ydot,
const e_matrix Wq,
e_vector qdot,
e_scalar nlcoef 
)
pure virtual

Implemented in iTaSC::WSDLSSolver, and iTaSC::WDLSSolver.

Referenced by iTaSC::Scene::update().


The documentation for this class was generated from the following file: