8 #ifndef WSDLSSOLVER_HPP_
9 #define WSDLSSOLVER_HPP_
17 e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
19 std::vector<bool> m_ytask;
21 unsigned int m_ns, m_nc, m_nq;
27 virtual bool init(
unsigned int _nq,
unsigned int _nc,
const std::vector<bool>& gc);
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)