hpp-centroidal-dynamics  4.15.1
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
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 
17 namespace centroidal_dynamics {
18 
19 class 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,
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
Definition: centroidal_dynamics.hh:14
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: util.hh:69
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition: util.hh:63
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
Eigen::Ref< VectorX > Ref_vectorX
Definition: util.hh:53