solver-HQP-factory.hxx
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1 //
2 // Copyright (c) 2017 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
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17 
18 #ifndef __invdyn_solvers_hqp_factory_hxx__
19 #define __invdyn_solvers_hqp_factory_hxx__
20 
21 #include <tsid/solvers/solver-HQP-factory.hpp>
23 
24 
25 namespace tsid
26 {
27  namespace solvers
28  {
29 
30  template<int nVars, int nEqCon, int nIneqCon>
31  SolverHQPBase* SolverHQPFactory::createNewSolver(const SolverHQP solverType,
32  const std::string & name)
33  {
34  if(solverType==SOLVER_HQP_EIQUADPROG_RT)
35  return new SolverHQuadProgRT<nVars, nEqCon, nIneqCon>(name);
36 
37  assert(false && "Specified solver type not recognized");
38  return NULL;
39  }
40  }
41 }
42 
43 #endif // ifndef __invdyn_solvers_hqp_factory_hxx__
Definition: solver-HQP-eiquadprog-rt.hxx:31