Blender  V3.3
Public Member Functions | List of all members
iTaSC::WDLSSolver Class Reference

#include <WDLSSolver.hpp>

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

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)
 
- Public Member Functions inherited from iTaSC::Solver
virtual ~Solver ()
 

Additional Inherited Members

- Public Types inherited from iTaSC::Solver
enum  SolverParam { DLS_QMAX = 0 , DLS_LAMBDA_MAX , DLS_EPSILON }
 

Detailed Description

Definition at line 15 of file WDLSSolver.hpp.

Constructor & Destructor Documentation

◆ WDLSSolver()

iTaSC::WDLSSolver::WDLSSolver ( )

Definition at line 13 of file WDLSSolver.cpp.

◆ ~WDLSSolver()

iTaSC::WDLSSolver::~WDLSSolver ( )
virtual

Definition at line 19 of file WDLSSolver.cpp.

Member Function Documentation

◆ init()

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

Implements iTaSC::Solver.

Definition at line 22 of file WDLSSolver.cpp.

References e_zero_matrix, e_zero_vector, max, and min.

◆ setParam()

virtual void iTaSC::WDLSSolver::setParam ( SolverParam  param,
double  value 
)
inlinevirtual

◆ solve()

bool iTaSC::WDLSSolver::solve ( const e_matrix A,
const e_vector Wy,
const e_vector ydot,
const e_matrix Wq,
e_vector qdot,
e_scalar nlcoef 
)
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().


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