6 #ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
7 #define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
12 #include <qpOASES.hpp>
18 qpOASES::Options m_options;
19 qpOASES::SQProblem m_solver;
22 bool m_init_succeeded;
23 qpOASES::returnValue m_status;
40 virtual LP_status getStatus();
46 m_solver.getDualSolution(res.data());
Abstract interface for a Linear Program (LP) solver.
Definition: solver_LP_abstract.hh:41
Definition: solver_LP_qpoases.hh:16
virtual void getDualSolution(Ref_vectorX res)
Definition: solver_LP_qpoases.hh:45
virtual double getObjectiveValue()
Definition: solver_LP_qpoases.hh:43
virtual ~Solver_LP_qpoases()
Definition: solver_LP_qpoases.hh:28
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
Definition: centroidal_dynamics.hh:14
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