solver-HQP-factory.hpp
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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
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
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10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
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15 // <http://www.gnu.org/licenses/>.
16 //
17 
18 #ifndef __invdyn_solvers_hqp_factory_hpp__
19 #define __invdyn_solvers_hqp_factory_hpp__
20 
23 
24 
25 namespace tsid
26 {
27  namespace solvers
28  {
29 
31  {
32 
41  static SolverHQPBase * createNewSolver(const SolverHQP solverType,
42  const std::string & name);
43 
52  template<int nVars, int nEqCon, int nIneqCon>
53  static SolverHQPBase* createNewSolver(const SolverHQP solverType,
54  const std::string & name);
55  };
56 
57  }
58 }
59 
60 #endif // ifndef __invdyn_solvers_hqp_factory_hpp__
tsid::solvers::SolverHQPBase
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36
solver-HQP-base.hpp
tsid
Definition: constraint-bound.hpp:26
solver-HQP-eiquadprog-rt.hpp
tsid::solvers::SolverHQPFactory
Definition: solver-HQP-factory.hpp:30
tsid::solvers::SolverHQPFactory::createNewSolver
static SolverHQPBase * createNewSolver(const SolverHQP solverType, const std::string &name)
Create a new HQP solver of the specified type.
Definition: solver-HQP-factory.cpp:35