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_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;
37 virtual LP_status getStatus();
47 #endif // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
Definition: solver_LP_qpoases.hh:16
virtual double getObjectiveValue()
Definition: solver_LP_qpoases.hh:40
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition: util.hh:47
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
const typedef Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: util.hh:67
Eigen::Ref< VectorX > Ref_vectorX
Definition: util.hh:51
Definition: centroidal_dynamics.hh:14
const typedef Eigen::Ref< const VectorX > & Cref_vectorX
Definition: util.hh:61
virtual void getDualSolution(Ref_vectorX res)
Definition: solver_LP_qpoases.hh:42
Abstract interface for a Linear Program (LP) solver.
Definition: solver_LP_abstract.hh:41