hpp-bezier-com-traj  5.0.0
Multi contact trajectory generation for the COM using Bezier curves
glpk-wrapper.hpp
Go to the documentation of this file.
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 GLPKWRAPPER_HH_
19 #define GLPKWRAPPER_HH_
20 
21 #include <Eigen/Dense>
23 
24 namespace solvers {
25 
26 // min g'x
27 // st CIx <= ci0
28 // CEx = ce0
29 int solveglpk(const VectorXd& g0, const MatrixXd& CE, const VectorXd& ce0,
30  const MatrixXd& CI, const VectorXd& ci0,
31  solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds,
32  VectorXd& x, double& cost);
33 
34 } /* namespace solvers */
35 
36 #endif /* GLPKWRAPPER_HH_ */
Definition: glpk-wrapper.hpp:24
Eigen::VectorXd VectorXd
Definition: solver-abstract.hpp:35
int solveglpk(const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, VectorXd &x, double &cost)
Definition: glpk-wrapper.cpp:39
const Eigen::Ref< const VectorXd > & Cref_vectorX
Definition: solver-abstract.hpp:37
Eigen::MatrixXd MatrixXd
Definition: solver-abstract.hpp:34