18 #ifndef SOLVERABSTRACT_HH_ 19 #define SOLVERABSTRACT_HH_ 21 #include <Eigen/Dense> 31 static const double UNBOUNDED_UP = 100000.;
32 static const double UNBOUNDED_DOWN = -100000.;
40 SOLVER_QUADPROG = 0x00001
42 #ifdef USE_GLPK_SOLVER 53 ResultData() : success_(false), cost_(-1.), x(VectorXd::Zero(0)) {}
55 ResultData(
const bool success,
const double cost, Cref_vectorX x)
56 : success_(success), cost_(cost), x(x) {}
59 : success_(other.success_), cost_(other.cost_), x(other.x) {}
64 cost_ = (other.
cost_);
87 const MatrixXd& A,
const VectorXd& b,
const MatrixXd& D,
const VectorXd& d,
88 const MatrixXd& Hess,
const VectorXd& g,
const VectorXd& initGuess,
89 Cref_vectorX minBounds, Cref_vectorX maxBounds,
const SolverType solver);
Definition: glpk-wrapper.hpp:24
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
bool success_
Definition: solver-abstract.hpp:68
ResultData()
Definition: solver-abstract.hpp:53
Eigen::VectorXd VectorXd
Definition: solver-abstract.hpp:35
~ResultData()
Definition: solver-abstract.hpp:60
Struct used to return the results of the trajectory generation problem.
Definition: solver-abstract.hpp:52
ResultData & operator=(const ResultData &other)
Definition: solver-abstract.hpp:62
double cost_
Definition: solver-abstract.hpp:69
VectorXd x
Definition: solver-abstract.hpp:70
ResultData(const ResultData &other)
Definition: solver-abstract.hpp:58
ResultData BEZIER_COM_TRAJ_DLLAPI solve(const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const SolverType solver)
solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constra...
Definition: solver-abstract.cpp:85
const Eigen::Ref< const VectorXd > & Cref_vectorX
Definition: solver-abstract.hpp:37
Definition: solver-abstract.hpp:29
Eigen::MatrixXd MatrixXd
Definition: solver-abstract.hpp:34
optim_status
Definition: solver-abstract.hpp:29
Definition: solver-abstract.hpp:29
Eigen::VectorXi VectorXi
Definition: solver-abstract.hpp:36
ResultData(const bool success, const double cost, Cref_vectorX x)
Definition: solver-abstract.hpp:55