solve.hh

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/*
 * Copyright 2018, LAAS-CNRS
 * Author: Steve Tonneau
 */
 
#ifndef BEZIER_COM_TRAJ_LIB_SOLVE_H
#define BEZIER_COM_TRAJ_LIB_SOLVE_H
 
#include <Eigen/Dense>
#include <hpp/bezier-com-traj/data.hh>
#include <hpp/bezier-com-traj/local_config.hh>
 
namespace bezier_com_traj {
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj
solve0step(const ProblemData& pData, const std::vector<double>& Ts,
           const double timeStep = -1);
 
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj
computeCOMTrajFixedSize(const ProblemData& pData, const VectorX& Ts,
                        const unsigned int pointsPerPhase = 3);
 
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(
    const ProblemData& pData, const VectorX& Ts, const double timeStep = -1,
    const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
 
}  // end namespace bezier_com_traj
 
#endif