griefith/test
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Fix for commit 41227 (Some opening comment tags (/*) were lost!).

Browse Source
This commit is contained in:
Bastien Montagne
2011-10-23 19:39:20 +00:00
parent 82c84f4b58
commit 8a6a3dbb54
7 changed files with 22 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
intern/itasc/WSDLSSolver.cpp
View File

@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
e_scalar N, M;
// Create the Weighted jacobian
m_AWq.noalias() = A*Wq;
m_AWq = (A*Wq).lazy();
for (i=0; i<m_nc; i++)
m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
@@ -75,8 +75,8 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
if(ret<0)
return false;
m_Wy_ydot = Wy.array() * ydot.array();
m_WqV.noalias() = Wq*m_V;
m_Wy_ydot = Wy.cwise() * ydot;
m_WqV = (Wq*m_V).lazy();
qdot.setZero();
e_scalar maxDeltaS = e_scalar(0.0);
e_scalar prevS = e_scalar(0.0);
@@ -121,7 +121,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
M *= Sinv;
alpha = m_U.col(i).dot(m_Wy_ydot);
_qmax = (N < M) ? m_qmax*N/M : m_qmax;
vmax = m_WqV.col(i).array().abs().maxCoeff();
vmax = m_WqV.col(i).cwise().abs().maxCoeff();
norm = fabs(Sinv*alpha*vmax);
if (norm > _qmax) {
damp = Sinv*alpha*_qmax/norm;