hpp-centroidal-dynamics 5.0.0
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
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solver_LP_clp.hh
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1/*
2 * Copyright 2015, LAAS-CNRS
3 * Author: Andrea Del Prete
4 */
5
6#ifdef CLP_FOUND
7
8#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
9#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
10
14
15#include "coin/ClpSimplex.hpp"
16
17namespace centroidal_dynamics {
18
19class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_clp : public Solver_LP_abstract {
20 private:
21 ClpSimplex m_model;
22
23 public:
24 Solver_LP_clp();
25
31 virtual LP_status solve(Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub,
32 Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub,
33 Ref_vectorX sol);
34
36 virtual LP_status getStatus();
37
39 virtual double getObjectiveValue();
40
42 virtual void getDualSolution(Ref_vectorX res);
43
44 virtual unsigned int getMaximumIterations();
45
46 virtual bool setMaximumIterations(unsigned int maxIter);
47
48 virtual bool setMaximumTime(double seconds);
49};
50
51} // end namespace centroidal_dynamics
52
53#endif // CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
54
55#endif // CLP_FOUND
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
Definition: centroidal_dynamics.hh:14