solver-HQP-factory.hpp
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//
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// Copyright (c) 2017 CNRS
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//
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// This file is part of tsid
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// tsid is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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// tsid is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// tsid If not, see
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// <http://www.gnu.org/licenses/>.
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//
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#ifndef __invdyn_solvers_hqp_factory_hpp__
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#define __invdyn_solvers_hqp_factory_hpp__
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#include <
tsid/solvers/solver-HQP-base.hpp
>
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#include <
tsid/solvers/solver-HQP-eiquadprog-rt.hpp
>
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namespace
tsid
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{
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namespace
solvers
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{
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struct
SolverHQPFactory
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{
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static
SolverHQPBase
*
createNewSolver
(
const
SolverHQP solverType,
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const
std::string & name);
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template
<
int
nVars,
int
nEqCon,
int
nIneqCon>
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static
SolverHQPBase
*
createNewSolver
(
const
SolverHQP solverType,
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const
std::string & name);
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};
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}
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}
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#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
include
tsid
solvers
solver-HQP-factory.hpp
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