iTaSC::WDLSSolver Class Reference

#include <WDLSSolver.hpp>

Inheritance diagram for iTaSC::WDLSSolver:

List of all members.

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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Detailed Description

Definition at line 15 of file WDLSSolver.hpp.

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Constructor & Destructor Documentation

iTaSC::WDLSSolver::WDLSSolver

(

)

iTaSC::WDLSSolver::~WDLSSolver

(

)

[virtual]

Definition at line 23 of file WDLSSolver.cpp.

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Member Function Documentation

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

Implements iTaSC::Solver.

Definition at line 26 of file WDLSSolver.cpp.

References e_zero_matrix, e_zero_vector, max, and min.

virtual void iTaSC::WDLSSolver::setParam	(	SolverParam	param,
		double	value
	)		[inline, virtual]

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.

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 50 of file WDLSSolver.cpp.

References e_scalar, KDL::epsilon, fabs(), i, norm(), KDL::sqr(), and KDL::svd_eigen_HH().

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

• WDLSSolver.hpp
• WDLSSolver.cpp