6 #ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
7 #define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
51 m_useWarmStart =
true;
78 virtual LP_status solve(
const std::string &filename,
Ref_vectorX sol);
94 virtual bool writeLpToFile(
const std::string &filename,
Cref_vectorX c,
112 virtual bool readLpFromFile(
const std::string &filename,
VectorX &c,
129 m_useWarmStart = useWarmStart;
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
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
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