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.
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 
14 #include "ClpSimplex.hpp"
15 
16 namespace centroidal_dynamics {
17 
18 class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_clp : public Solver_LP_abstract {
19  private:
20  ClpSimplex m_model;
21 
22  public:
23  Solver_LP_clp();
24 
30  virtual LP_status solve(Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb,
31  Cref_vectorX Aub, Ref_vectorX sol);
32 
34  virtual LP_status getStatus();
35 
37  virtual double getObjectiveValue();
38 
40  virtual void getDualSolution(Ref_vectorX res);
41 
42  virtual unsigned int getMaximumIterations();
43 
44  virtual bool setMaximumIterations(unsigned int maxIter);
45 
46  virtual bool setMaximumTime(double seconds);
47 };
48 
49 } // end namespace centroidal_dynamics
50 
51 #endif // CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
52 
53 #endif // CLP_FOUND
solver_LP_abstract.hh
util.hh
CENTROIDAL_DYNAMICS_DLLAPI
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
centroidal_dynamics::Cref_matrixXX
const typedef Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: util.hh:67
local_config.hh
centroidal_dynamics::Ref_vectorX
Eigen::Ref< VectorX > Ref_vectorX
Definition: util.hh:51
centroidal_dynamics
Definition: centroidal_dynamics.hh:14
centroidal_dynamics::Cref_vectorX
const typedef Eigen::Ref< const VectorX > & Cref_vectorX
Definition: util.hh:61