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/* |
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* Copyright 2015, LAAS-CNRS |
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* Author: Andrea Del Prete |
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*/ |
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#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH |
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#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH |
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#include <hpp/centroidal-dynamics/local_config.hh> |
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#include <hpp/centroidal-dynamics/solver_LP_abstract.hh> |
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#include <hpp/centroidal-dynamics/util.hh> |
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#include <qpOASES.hpp> |
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namespace centroidal_dynamics { |
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class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_qpoases : public Solver_LP_abstract { |
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private: |
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qpOASES::Options m_options; // solver options |
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qpOASES::SQProblem m_solver; // qpoases solver |
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MatrixXX m_H; // Hessian matrix |
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bool m_init_succeeded; // true if solver has been successfully initialized |
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qpOASES::returnValue m_status; // status code returned by the solver |
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public: |
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Solver_LP_qpoases(); |
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virtual ~Solver_LP_qpoases() {} |
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/** Solve the linear program |
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* minimize c' x |
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* subject to Alb <= A x <= Aub |
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* lb <= x <= ub |
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*/ |
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LP_status solve(Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, |
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Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub, |
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Ref_vectorX sol); |
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/** Get the status of the solver. */ |
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virtual LP_status getStatus(); |
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/** Get the objective value of the last solved problem. */ |
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virtual double getObjectiveValue() { return m_solver.getObjVal(); } |
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virtual void getDualSolution(Ref_vectorX res) { |
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m_solver.getDualSolution(res.data()); |
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} |
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}; |
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} // end namespace centroidal_dynamics |
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#endif // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH |
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