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solver-HQP-factory.hxx
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_solvers_hqp_factory_hxx__
19#define __invdyn_solvers_hqp_factory_hxx__
20
23
24
25namespace tsid
26{
27 namespace solvers
28 {
29
30 template<int nVars, int nEqCon, int nIneqCon>
32 const std::string & name)
33 {
34 if(solverType==SOLVER_HQP_EIQUADPROG_RT)
36
37 assert(false && "Specified solver type not recognized");
38 return NULL;
39 }
40 }
41}
42
43#endif // ifndef __invdyn_solvers_hqp_factory_hxx__
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:37
Definition: solver-HQP-eiquadprog-rt.hpp:36
Definition: constraint-bound.hpp:27
static SolverHQPBase * createNewSolver(const SolverHQP solverType, const std::string &name)
Create a new HQP solver of the specified type.
Definition: solver-HQP-factory.cpp:35