77617fce77
This reverts commit06b8ddca8f. Add ".clang-format" which prevents these files from being formatted. Commit [0] missed adding this file. [0]:f43da6fc4c
35 lines
812 B
C++
35 lines
812 B
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
|
|
*
|
|
* SPDX-License-Identifier: LGPL-2.1-or-later */
|
|
|
|
/** \file
|
|
* \ingroup intern_itasc
|
|
*/
|
|
|
|
#ifndef SOLVER_HPP_
|
|
#define SOLVER_HPP_
|
|
|
|
#include <vector>
|
|
#include "eigen_types.hpp"
|
|
|
|
namespace iTaSC{
|
|
|
|
class Solver{
|
|
public:
|
|
enum SolverParam {
|
|
DLS_QMAX = 0,
|
|
DLS_LAMBDA_MAX,
|
|
DLS_EPSILON
|
|
};
|
|
virtual ~Solver(){};
|
|
|
|
// gc = grouping of constraint output ,
|
|
// size of vector = nc, alternance of true / false to indicate the grouping of output
|
|
virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc)=0;
|
|
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)=0;
|
|
virtual void setParam(SolverParam param, double value)=0;
|
|
};
|
|
|
|
}
|
|
#endif /* SOLVER_HPP_ */
|