hpp-centroidal-dynamics
4.14.0
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
solver_LP_clp.hh
Go to the documentation of this file.
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/*
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* Copyright 2015, LAAS-CNRS
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* Author: Andrea Del Prete
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*/
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#ifdef CLP_FOUND
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#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
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#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
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#include <
hpp/centroidal-dynamics/local_config.hh
>
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#include <
hpp/centroidal-dynamics/solver_LP_abstract.hh
>
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#include <
hpp/centroidal-dynamics/util.hh
>
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#include "coin/ClpSimplex.hpp"
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namespace
centroidal_dynamics
{
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class
CENTROIDAL_DYNAMICS_DLLAPI
Solver_LP_clp :
public
Solver_LP_abstract {
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private
:
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ClpSimplex m_model;
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public
:
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Solver_LP_clp();
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virtual
LP_status solve(
Cref_vectorX
c,
Cref_vectorX
lb,
Cref_vectorX
ub,
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Cref_matrixXX
A,
Cref_vectorX
Alb,
Cref_vectorX
Aub,
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Ref_vectorX
sol);
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virtual
LP_status getStatus();
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virtual
double
getObjectiveValue();
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virtual
void
getDualSolution(
Ref_vectorX
res);
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virtual
unsigned
int
getMaximumIterations();
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virtual
bool
setMaximumIterations(
unsigned
int
maxIter);
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virtual
bool
setMaximumTime(
double
seconds);
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};
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}
// end namespace centroidal_dynamics
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#endif // CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
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#endif // CLP_FOUND
solver_LP_abstract.hh
centroidal_dynamics
Definition:
centroidal_dynamics.hh:14
centroidal_dynamics::Cref_matrixXX
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition:
util.hh:69
centroidal_dynamics::Cref_vectorX
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition:
util.hh:63
CENTROIDAL_DYNAMICS_DLLAPI
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition:
local_config.hh:52
local_config.hh
util.hh
centroidal_dynamics::Ref_vectorX
Eigen::Ref< VectorX > Ref_vectorX
Definition:
util.hh:53
include
hpp
centroidal-dynamics
solver_LP_clp.hh
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