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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_fwd_hpp__ |
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#define __invdyn_solvers_fwd_hpp__ |
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#include <memory> |
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#include "tsid/config.hh" |
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#include "tsid/math/fwd.hpp" |
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#include "tsid/solvers/solver-qpData.hpp" |
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#include <pinocchio/container/aligned-vector.hpp> |
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#define DEFAULT_HESSIAN_REGULARIZATION 1e-8 |
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namespace tsid { |
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namespace solvers { |
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/** |
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* Available HQP solvers. |
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*/ |
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enum TSID_DLLAPI SolverHQP { |
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SOLVER_HQP_EIQUADPROG = 0, |
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SOLVER_HQP_EIQUADPROG_FAST = 1, |
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SOLVER_HQP_EIQUADPROG_RT = 2 |
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#ifdef TSID_QPMAD_FOUND |
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, |
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SOLVER_HQP_QPMAD |
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#endif |
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#ifdef TSID_WITH_PROXSUITE |
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, |
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SOLVER_HQP_PROXQP |
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#endif |
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#ifdef TSID_WITH_OSQP |
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, |
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SOLVER_HQP_OSQP |
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#endif |
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#ifdef QPOASES_FOUND |
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, |
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SOLVER_HQP_OASES |
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#endif |
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}; |
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/** |
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* Possible states of an HQP solver. |
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*/ |
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enum TSID_DLLAPI HQPStatus { |
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HQP_STATUS_UNKNOWN = -1, |
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HQP_STATUS_OPTIMAL = 0, |
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HQP_STATUS_INFEASIBLE = 1, |
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HQP_STATUS_UNBOUNDED = 2, |
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HQP_STATUS_MAX_ITER_REACHED = 3, |
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HQP_STATUS_ERROR = 4 |
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}; |
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class HQPOutput; |
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class TSID_DLLAPI SolverHQPBase; |
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template <int nVars, int nEqCon, int nIneqCon> |
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class TSID_DLLAPI SolverHQuadProgRT; |
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template <typename T1, typename T2> |
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class aligned_pair { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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aligned_pair(const T1& t1, const T2& t2) : first(t1), second(t2) {} |
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T1 first; |
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T2 second; |
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}; |
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template <typename T1, typename T2> |
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inline aligned_pair<T1, T2> make_pair(const T1& t1, const T2& t2) { |
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return aligned_pair<T1, T2>(t1, t2); |
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} |
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typedef pinocchio::container::aligned_vector< |
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aligned_pair<double, std::shared_ptr<math::ConstraintBase> > > |
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ConstraintLevel; |
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typedef pinocchio::container::aligned_vector< |
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aligned_pair<double, std::shared_ptr<const math::ConstraintBase> > > |
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ConstConstraintLevel; |
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typedef pinocchio::container::aligned_vector<ConstraintLevel> HQPData; |
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typedef pinocchio::container::aligned_vector<ConstConstraintLevel> ConstHQPData; |
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typedef QPDataTpl<double> QPData; |
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typedef QPDataBaseTpl<double> QPDataBase; |
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typedef QPDataQuadProgTpl<double> QPDataQuadProg; |
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} // namespace solvers |
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} // namespace tsid |
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#endif // ifndef __invdyn_solvers_fwd_hpp__ |
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