18 #ifndef __invdyn_solvers_hqp_base_hpp__
19 #define __invdyn_solvers_hqp_base_hpp__
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 static std::string
const HQP_status_string [5];
51 virtual const std::string &
name() {
return m_name; }
53 virtual void resize(
unsigned int n,
unsigned int neq,
unsigned int nin) = 0;
70 virtual bool setMaximumIterations(
unsigned int maxIter);
76 virtual bool setMaximumTime(
double seconds);
Definition: solver-HQP-output.hpp:33
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:37
virtual double getMaximumTime()
Definition: solver-HQP-base.hpp:74
int m_maxIter
Definition: solver-HQP-base.hpp:82
bool m_useWarmStart
Definition: solver-HQP-base.hpp:81
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-base.hpp:46
virtual bool getUseWarmStart()
Definition: solver-HQP-base.hpp:63
double m_maxTime
Definition: solver-HQP-base.hpp:83
virtual const std::string & name()
Definition: solver-HQP-base.hpp:51
std::string m_name
Definition: solver-HQP-base.hpp:80
virtual double getObjectiveValue()=0
virtual void resize(unsigned int n, unsigned int neq, unsigned int nin)=0
math::RefVector RefVector
Definition: solver-HQP-base.hpp:44
HQPOutput m_output
Definition: solver-HQP-base.hpp:84
virtual void setUseWarmStart(bool useWarmStart)
Definition: solver-HQP-base.hpp:65
virtual unsigned int getMaximumIterations()
Definition: solver-HQP-base.hpp:68
math::ConstRefVector ConstRefVector
Definition: solver-HQP-base.hpp:45
virtual const HQPOutput & solve(const HQPData &problemData)=0
virtual ~SolverHQPBase()
Definition: solver-HQP-base.hpp:49
#define TSID_DLLAPI
Definition: config.hh:64
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
class TSID_DLLAPI SolverHQPBase
Definition: fwd.hpp:66
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Definition: constraint-bound.hpp:27