18 #ifndef __tsid_python_solver_quadprog_hpp__ 19 #define __tsid_python_solver_quadprog_hpp__ 33 namespace bp = boost::python;
35 template<
typename Solver>
37 :
public boost::python::def_visitor< SolverHQuadProgPythonVisitor<Solver> >
39 template<
class PyClass>
44 .def(bp::init<std::string>((bp::arg(
"name")),
"Default Constructor with name"))
47 .add_property(
"ObjVal", &Solver::getObjectiveValue,
"return obj value")
54 static void resize(Solver &
self,
unsigned int n,
unsigned int neq,
unsigned int nin){
55 self.resize(n, neq, nin);
59 output =
self.solve(problemData);
66 output =
self.solve(data);
71 static void expose(
const std::string & class_name)
73 std::string doc =
"Solver EiQuadProg info.";
74 bp::class_<Solver>(class_name.c_str(),
84 #endif // ifndef __tsid_python_solver_quadprog_hpp__ static solvers::HQPOutput solver_helper(Solver &self, HQPDatas &HQPDatas)
Definition: solver-HQP-eiquadprog.hpp:62
Definition: solver-HQP-output.hpp:32
void visit(PyClass &cl) const
Definition: solver-HQP-eiquadprog.hpp:41
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Definition: container.hpp:75
static solvers::HQPOutput solve(Solver &self, const solvers::HQPData &problemData)
Definition: solver-HQP-eiquadprog.hpp:57
static void expose(const std::string &class_name)
Definition: solver-HQP-eiquadprog.hpp:71
static void resize(Solver &self, unsigned int n, unsigned int neq, unsigned int nin)
Definition: solver-HQP-eiquadprog.hpp:54
HQPData get()
Definition: container.hpp:114
Definition: solver-HQP-eiquadprog.hpp:36
Definition: constraint-bound.hpp:26