18 #ifndef __invdyn_solvers_hqp_factory_hxx__ 19 #define __invdyn_solvers_hqp_factory_hxx__ 21 #include <tsid/solvers/solver-HQP-factory.hpp> 30 template<
int nVars,
int nEqCon,
int nIneqCon>
31 SolverHQPBase* SolverHQPFactory::createNewSolver(
const SolverHQP solverType,
32 const std::string & name)
34 if(solverType==SOLVER_HQP_EIQUADPROG_RT)
35 return new SolverHQuadProgRT<nVars, nEqCon, nIneqCon>(name);
37 assert(
false &&
"Specified solver type not recognized");
43 #endif // ifndef __invdyn_solvers_hqp_factory_hxx__
Definition: solver-HQP-eiquadprog-rt.hxx:31