GCC Code Coverage Report

Directory: ./
File: src/solver_LP_abstract.cpp
Date: 2025-03-17 04:04:52
Exec Total Coverage
Lines: 41 58 70.7%
Branches: 39 126 31.0%
Line Branch Exec Source
1 /*
2 * Copyright 2015, LAAS-CNRS
3 * Author: Andrea Del Prete
4 */
5
6 #include <hpp/centroidal-dynamics/logger.hh>
7 #include <hpp/centroidal-dynamics/solver_LP_abstract.hh>
8 #include <hpp/centroidal-dynamics/solver_LP_qpoases.hh>
9 #include <iostream>
10
11 #ifdef CLP_FOUND
12 #include <hpp/centroidal-dynamics/solver_LP_clp.hh>
13 #endif
14
15 using namespace std;
16
17 namespace centroidal_dynamics {
18
19 15 Solver_LP_abstract *Solver_LP_abstract::getNewSolver(SolverLP solverType) {
20
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 15 if (solverType == SOLVER_LP_QPOASES) return new Solver_LP_qpoases();
21
22 #ifdef CLP_FOUND
23 if (solverType == SOLVER_LP_CLP) return new Solver_LP_clp();
24 #endif
25
26 ✗ SEND_ERROR_MSG("Specified solver type not recognized: " +
27 toString(solverType));
28 ✗ return NULL;
29 }
30
31 1 bool Solver_LP_abstract::writeLpToFile(const std::string &filename,
32 Cref_vectorX c, Cref_vectorX lb,
33 Cref_vectorX ub, Cref_matrixXX A,
34 Cref_vectorX Alb, Cref_vectorX Aub) {
35 1 MatrixXX::Index n = c.size(), m = A.rows();
36
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 1 assert(lb.size() == n);
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 1 assert(ub.size() == n);
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 1 assert(A.cols() == n);
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 1 assert(Alb.size() == m);
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 1 assert(Aub.size() == m);
41
42 std::ofstream out(filename.c_str(),
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 1 std::ios::out | std::ios::binary | std::ios::trunc);
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 1 out.close();
53 1 return true;
54 1 }
55
56 15 bool Solver_LP_abstract::readLpFromFile(const std::string &filename, VectorX &c,
57 VectorX &lb, VectorX &ub, MatrixXX &A,
58 VectorX &Alb, VectorX &Aub) {
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 15 std::ifstream in(filename.c_str(), std::ios::in | std::ios::binary);
60 15 typename MatrixXX::Index n = 0, m = 0;
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 15 c.resize(n);
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 15 lb.resize(n);
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 15 A.resize(m, n);
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 15 in.close();
76 15 return true;
77 15 }
78
79 ✗ LP_status Solver_LP_abstract::solve(const std::string &filename,
80 Ref_vectorX sol) {
81 ✗ VectorX c, lb, ub, Alb, Aub;
82 ✗ MatrixXX A;
83 ✗ if (!readLpFromFile(filename, c, lb, ub, A, Alb, Aub)) {
84 ✗ SEND_ERROR_MSG("Error while reading LP from file " + string(filename));
85 ✗ return LP_STATUS_ERROR;
86 }
87 ✗ return solve(c, lb, ub, A, Alb, Aub, sol);
88 }
89
90 ✗ bool Solver_LP_abstract::setMaximumIterations(unsigned int maxIter) {
91 ✗ if (maxIter == 0) return false;
92 ✗ m_maxIter = maxIter;
93 ✗ return true;
94 }
95
96 ✗ bool Solver_LP_abstract::setMaximumTime(double seconds) {
97 ✗ if (seconds <= 0.0) return false;
98 ✗ m_maxTime = seconds;
99 ✗ return true;
100 }
101
102 } // end namespace centroidal_dynamics
103