1 |
|
|
// |
2 |
|
|
// Copyright (c) 2017 CNRS |
3 |
|
|
// |
4 |
|
|
// This file is part of tsid |
5 |
|
|
// tsid is free software: you can redistribute it |
6 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
7 |
|
|
// License as published by the Free Software Foundation, either version |
8 |
|
|
// 3 of the License, or (at your option) any later version. |
9 |
|
|
// tsid is distributed in the hope that it will be |
10 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
11 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
12 |
|
|
// General Lesser Public License for more details. You should have |
13 |
|
|
// received a copy of the GNU Lesser General Public License along with |
14 |
|
|
// tsid If not, see |
15 |
|
|
// <http://www.gnu.org/licenses/>. |
16 |
|
|
// |
17 |
|
|
|
18 |
|
|
#ifndef __invdyn_solvers_hqp_factory_hxx__ |
19 |
|
|
#define __invdyn_solvers_hqp_factory_hxx__ |
20 |
|
|
|
21 |
|
|
#include <tsid/solvers/solver-HQP-factory.hpp> |
22 |
|
|
#include <tsid/solvers/solver-HQP-eiquadprog-rt.hxx> |
23 |
|
|
|
24 |
|
|
namespace tsid { |
25 |
|
|
namespace solvers { |
26 |
|
|
|
27 |
|
|
template <int nVars, int nEqCon, int nIneqCon> |
28 |
|
2 |
SolverHQPBase* SolverHQPFactory::createNewSolver(const SolverHQP solverType, |
29 |
|
|
const std::string& name) { |
30 |
✓✗ |
2 |
if (solverType == SOLVER_HQP_EIQUADPROG_RT) |
31 |
✓✗ |
2 |
return new SolverHQuadProgRT<nVars, nEqCon, nIneqCon>(name); |
32 |
|
|
|
33 |
|
|
PINOCCHIO_CHECK_INPUT_ARGUMENT(false, "Specified solver type not recognized"); |
34 |
|
|
return nullptr; |
35 |
|
|
} |
36 |
|
|
} // namespace solvers |
37 |
|
|
} // namespace tsid |
38 |
|
|
|
39 |
|
|
#endif // ifndef __invdyn_solvers_hqp_factory_hxx__ |