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solver-HQP-factory.hpp
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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_hpp__
19#define __invdyn_solvers_hqp_factory_hpp__
20
23
24
25namespace tsid
26{
27 namespace solvers
28 {
29
31 {
32
41 static SolverHQPBase * createNewSolver(const SolverHQP solverType,
42 const std::string & name);
43
52 template<int nVars, int nEqCon, int nIneqCon>
53 static SolverHQPBase* createNewSolver(const SolverHQP solverType,
54 const std::string & name);
55 };
56
57 }
58}
59
60#endif // ifndef __invdyn_solvers_hqp_factory_hpp__
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:37
Definition: constraint-bound.hpp:27
Definition: solver-HQP-factory.hpp:31
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