GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/tsid/solvers/fwd.hpp Lines: 3 3 100.0 %
Date: 2024-05-10 01:36:27 Branches: 0 0 - %

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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__