hpp-centroidal-dynamics
4.10.0
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
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6 #ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
7 #define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
51 m_useWarmStart =
true;
75 virtual LP_status solve(
const std::string &filename,
Ref_vectorX sol);
113 virtual LP_status getStatus() = 0;
116 virtual double getObjectiveValue() = 0;
129 virtual bool setMaximumIterations(
unsigned int maxIter);
134 virtual bool setMaximumTime(
double seconds);
139 #endif // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
LP_STATUS_OPTIMAL
Definition: solver_LP_abstract.hh:31
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:122
double m_maxTime
Definition: solver_LP_abstract.hh:45
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition: util.hh:47
virtual void setUseWarmStart(bool useWarmStart)
Definition: solver_LP_abstract.hh:124
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
virtual unsigned int getMaximumIterations()
Definition: solver_LP_abstract.hh:127
const typedef Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: util.hh:67
bool m_useWarmStart
Definition: solver_LP_abstract.hh:43
Eigen::Ref< VectorX > Ref_vectorX
Definition: util.hh:51
LP_STATUS_MAX_ITER_REACHED
Definition: solver_LP_abstract.hh:34
LP_STATUS_INFEASIBLE
Definition: solver_LP_abstract.hh:32
Definition: centroidal_dynamics.hh:14
const typedef Eigen::Ref< const VectorX > & Cref_vectorX
Definition: util.hh:61
virtual double getMaximumTime()
Definition: solver_LP_abstract.hh:132
LP_STATUS_UNKNOWN
Definition: solver_LP_abstract.hh:30
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > VectorX
Definition: util.hh:35
LP_STATUS_UNBOUNDED
Definition: solver_LP_abstract.hh:33
Abstract interface for a Linear Program (LP) solver.
Definition: solver_LP_abstract.hh:41