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18 #ifndef __invdyn_solvers_hqp_qpmad_hpp__
19 #define __invdyn_solvers_hqp_qpmad_hpp__
23 #include <qpmad/solver.h>
36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 void resize(
unsigned int n,
unsigned int neq,
unsigned int nin);
55 double getObjectiveValue();
61 void sendMsg(
const std::string & s);
84 #endif // ifndef __invdyn_solvers_hqp_qpmad_hpp__
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-qpmad.hpp:42
Vector m_cu
Definition: solver-HQP-qpmad.hpp:74
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
double m_hessian_regularization
Definition: solver-HQP-qpmad.hpp:76
bool m_has_bounds
Definition: solver-HQP-qpmad.hpp:66
Matrix m_C
Definition: solver-HQP-qpmad.hpp:72
Vector m_ub
Definition: solver-HQP-qpmad.hpp:71
Matrix m_H
Definition: solver-HQP-qpmad.hpp:68
Settings m_settings
Definition: solver-HQP-qpmad.hpp:64
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Settings & settings()
Definition: solver-HQP-qpmad.hpp:57
Vector m_cl
Definition: solver-HQP-qpmad.hpp:73
Vector m_g
Definition: solver-HQP-qpmad.hpp:69
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
Definition: solver-HQP-output.hpp:32
math::RefVector RefVector
Definition: solver-HQP-qpmad.hpp:40
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36
Vector m_lb
Definition: solver-HQP-qpmad.hpp:70
unsigned int m_nc
Definition: solver-HQP-qpmad.hpp:78
unsigned int m_n
number of equality-inequality constraints
Definition: solver-HQP-qpmad.hpp:79
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Implementation of Quadratic Program (HQP) solver using qpmad.
Definition: solver-HQP-qpmad.hpp:32
Definition: constraint-bound.hpp:26
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-qpmad.hpp:38
qpmad::Solver m_solver
Definition: solver-HQP-qpmad.hpp:63
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
math::ConstRefVector ConstRefVector
Definition: solver-HQP-qpmad.hpp:41
qpmad::SolverParameters Settings
Definition: solver-HQP-qpmad.hpp:44
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
math::Vector Vector
Definition: solver-HQP-qpmad.hpp:39