Blender
V3.3
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#include <WDLSSolver.hpp>
Public Member Functions | |
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) |
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virtual | ~Solver () |
Additional Inherited Members | |
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enum | SolverParam { DLS_QMAX = 0 , DLS_LAMBDA_MAX , DLS_EPSILON } |
Definition at line 15 of file WDLSSolver.hpp.
iTaSC::WDLSSolver::WDLSSolver | ( | ) |
Definition at line 13 of file WDLSSolver.cpp.
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virtual |
Definition at line 19 of file WDLSSolver.cpp.
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virtual |
Implements iTaSC::Solver.
Definition at line 22 of file WDLSSolver.cpp.
References e_zero_matrix, e_zero_vector, max, and min.
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inlinevirtual |
Implements iTaSC::Solver.
Definition at line 30 of file WDLSSolver.hpp.
References iTaSC::Solver::DLS_EPSILON, iTaSC::Solver::DLS_LAMBDA_MAX, and iTaSC::Solver::DLS_QMAX.
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virtual |
Implements iTaSC::Solver.
Definition at line 46 of file WDLSSolver.cpp.
References A, e_scalar, KDL::epsilon, fabs(), norm(), ret, KDL::sqr(), and KDL::svd_eigen_HH().