Skip to content
Snippets Groups Projects
Commit fbcb0c47 authored by Nicolas Mansard's avatar Nicolas Mansard
Browse files

Correction of the solver kine header.

parent 5539dea0
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 4 additions and 0 deletions
src/solver-kine.h
+ 4
− 0
View file @ fbcb0c47
...@@ -91,6 +91,8 @@ namespace dynamicgraph { ...@@ -91,6 +91,8 @@ namespace dynamicgraph {
public: /* --- COMMANDS --- */ public: /* --- COMMANDS --- */
void debugOnce( void ); void debugOnce( void );
void resetAset( void );
void getDecomposition( const int &stage );
bool controlFreeFloating; bool controlFreeFloating;
private: /* --- INTERNAL COMPUTATIONS --- */ private: /* --- INTERNAL COMPUTATIONS --- */
...@@ -106,6 +108,8 @@ namespace dynamicgraph { ...@@ -106,6 +108,8 @@ namespace dynamicgraph {
std::vector< soth::VectorBound > btasks; std::vector< soth::VectorBound > btasks;
Eigen::VectorXd solution; Eigen::VectorXd solution;
std::vector<soth::cstref_vector_t> activeSet;
bool relevantActiveSet;
}; // class SolverKine }; // class SolverKine
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment