From fbcb0c47e20d0ee941f4fcff7d5036bace495d60 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 17 Jan 2013 16:11:57 +0100
Subject: [PATCH] Correction of the solver kine header.
---
src/solver-kine.h | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/solver-kine.h b/src/solver-kine.h
index 8e2aec5..24bbd66 100644
--- a/src/solver-kine.h
+++ b/src/solver-kine.h
@@ -91,6 +91,8 @@ namespace dynamicgraph {
public: /* --- COMMANDS --- */
void debugOnce( void );
+ void resetAset( void );
+ void getDecomposition( const int &stage );
bool controlFreeFloating;
private: /* --- INTERNAL COMPUTATIONS --- */
@@ -106,6 +108,8 @@ namespace dynamicgraph {
std::vector< soth::VectorBound > btasks;
Eigen::VectorXd solution;
+ std::vector<soth::cstref_vector_t> activeSet;
+ bool relevantActiveSet;
}; // class SolverKine
--
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