hpp-centroidal-dynamics: include/hpp/centroidal-dynamics/solver_LP_clp.hh Source File

hpp-centroidal-dynamics 9.0.2 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
11 #include <hpp/centroidal-dynamics/local_config.hh>
12 #include <hpp/centroidal-dynamics/solver_LP_abstract.hh>
13 #include <hpp/centroidal-dynamics/util.hh>
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,
32 Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub,
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
local_config.hh
CENTROIDAL_DYNAMICS_DLLAPI
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
centroidal_dynamics
Definition: centroidal_dynamics.hh:14
centroidal_dynamics::Ref_vectorX
Eigen::Ref< VectorX > Ref_vectorX
Definition: util.hh:53
centroidal_dynamics::Cref_vectorX
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition: util.hh:63
centroidal_dynamics::Cref_matrixXX
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: util.hh:69
solver_LP_abstract.hh
util.hh