6#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
7#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
135 virtual bool setMaximumIterations(
unsigned int maxIter);
140 virtual bool setMaximumTime(
double seconds);
Abstract interface for a Linear Program (LP) solver.
Definition solver_LP_abstract.hh:41
virtual double getMaximumTime()
Definition solver_LP_abstract.hh:138
virtual bool readLpFromFile(const std::string &filename, VectorX &c, VectorX &lb, VectorX &ub, MatrixXX &A, VectorX &Alb, VectorX &Aub)
Read the data describing a Linear Program from the specified binary file. The vectors and matrices ar...
Definition solver_LP_abstract.cpp:56
double m_maxTime
Definition solver_LP_abstract.hh:45
virtual void setUseWarmStart(bool useWarmStart)
Definition solver_LP_abstract.hh:128
virtual unsigned int getMaximumIterations()
Definition solver_LP_abstract.hh:133
bool m_useWarmStart
Definition solver_LP_abstract.hh:43
virtual double getObjectiveValue()=0
virtual LP_status getStatus()=0
virtual LP_status solve(Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub, Ref_vectorX sol)=0
virtual bool writeLpToFile(const std::string &filename, Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub)
Write the specified Linear Program to binary file. minimize c' x subject to Alb <= A x <= Aub lb <= x...
Definition solver_LP_abstract.cpp:31
int m_maxIter
Definition solver_LP_abstract.hh:44
Solver_LP_abstract()
Definition solver_LP_abstract.hh:48
virtual bool getUseWarmStart()
Definition solver_LP_abstract.hh:126
virtual void getDualSolution(Ref_vectorX res)=0
virtual ~Solver_LP_abstract()
Definition solver_LP_abstract.hh:54
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition local_config.hh:52
Definition centroidal_dynamics.hh:14
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > VectorX
Definition util.hh:35
Eigen::Ref< VectorX > Ref_vectorX
Definition util.hh:53
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition util.hh:63
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition util.hh:69
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition util.hh:49
LP_STATUS_INFEASIBLE
Definition solver_LP_abstract.hh:32
LP_STATUS_OPTIMAL
Definition solver_LP_abstract.hh:31
LP_STATUS_UNKNOWN
Definition solver_LP_abstract.hh:30
LP_STATUS_MAX_ITER_REACHED
Definition solver_LP_abstract.hh:34
LP_STATUS_UNBOUNDED
Definition solver_LP_abstract.hh:33