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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_hqp_output_hpp__ |
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#define __invdyn_solvers_hqp_output_hpp__ |
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#include "tsid/solvers/fwd.hpp" |
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#include "tsid/math/fwd.hpp" |
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#include <vector> |
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namespace tsid { |
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namespace solvers { |
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class HQPOutput { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::Vector Vector; |
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typedef math::VectorXi VectorXi; |
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HQPStatus status; /// solver status |
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Vector x; /// solution |
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Vector lambda; /// Lagrange multipliers |
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VectorXi activeSet; /// indexes of active inequalities |
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int iterations; /// number of iterations performed by the solver |
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✓✗✓✗
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HQPOutput() {} |
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HQPOutput(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) { |
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resize(nVars, nEqCon, nInCon); |
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} |
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void resize(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) { |
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x.resize(nVars); |
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lambda.resize(nEqCon + nInCon); |
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activeSet.resize(nInCon); |
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} |
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}; |
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} // namespace solvers |
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} // namespace tsid |
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#endif // ifndef __invdyn_solvers_hqp_output_hpp__ |